Development andControl MethodofSix-Wheel RobotwithRocker Structure
Keiji Nagatani, Tadashi Adachi · 2007
Inourresearch group, theproject, namednetworked robotic system fordisaster mitigation, hasbeencarried outto perform robotic victim-search indisaster environment. in this project, wehavedeveloped amobile robots' system whichconsists ofsmall l r mobile robots (to search victims incollapsed buildings) andalarge- mobile-robot (to convey small robots intoit). Inorder toapproach tothetarget buildings, thelarge isrequired tosurmount somedebris andbumpy terrain. Forthis purpose, therobot hassix wheels, andtwopairs ofwheels infront areformed asactuated rocker structures. Thiswheelconfiguration canachieve active load- equalizer orother control methods byusing loadcell data. Inthis paper, thesystem description andcontrol methods ofthelarge o areintroduced. Wealso report aperformance ofthecontrol methods using a robot dynamics simulator developed inourgroup and preliminary experiments using real toevaluate thefeasibility ofourapproach.