Design of a gravitational wheeled robot

Authors: Ioi, Kiyoshi; Igarashi, Harukazu; Murakami, Ayanobu

Source: Advanced Robotics, Volume 16, Number 8, 2002 , pp. 785-793(9)

Publisher: VSP, an imprint of Brill

Key:

- Free Content

- New Content

- Subscribed Content

- Free Trial Content

Abstract:

This paper deals with a novel mobile robot to overcome unusual sized obstacles or uneven ground. The robot proposed here has a compact driving mechanism between dual parallel big wheels. First, we explain the basic principle and structure of our robot, and show the specifications of our prototype robot and the result of some mechanical experiments. In these experiments, we also report the result of the velocity control accompanied with two one-chip microcomputers (PICs) and we design a new leg for the attachment of a range sensor. Finally, we summarize our obtained results and some future works.

Keywords: Mobile robot; gravitational wheel; pendulum; PIC; range sensor.

Document Type: Research article

DOI: 10.1163/15685530260425756

The full text electronic article is available for purchase. You will be able to download the full text electronic article after payment.

$25.00 plus tax