제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2001년도 ICCAS
- /
- Pages.30.3-30
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- 2001
Stairs Adaptable Wheeled Mobile Robotusing Passive Linkage Mechanism
- Woo, Chun-Kyu (KAIST) ;
-
Kim, Soo-Hyun
(KAIST) ;
-
Kwak, Yoon-Keun
(KAIST) ;
- Kim, Mun-Sang (KIST)
- 발행 : 2001.10.01
초록
In this paper, we designed the 6-wheeled mobile robot (6-WMR) with the passive linkage mechanism which enables 6-WMR to passively adapt to the given stairs. To overcome the limit of adaptability to the terrain of conventional WMR and improve the energy efficiency, we proposed the new WMR using the passive linkage mechanism. The passive linkage mechanism consists of the simple four-bar linkage mechanism which allows 6-WMR to climb stairs with adaptability and an additional link which is connected to the four-bar linkage mechanism by a pin-slot joint to enable 6-WMR to passively go up the stairs. We made a miniature model of the proposed 6-WMR ...
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