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• W2085578998 abstract "The ability to overcome rough terrain is a main issue of mobile robots. However, as the speed of a robot increases, stability becomes another issue because it is directly related to the mobility of the robot. Without stability, the robot is exposed to risks of overturn. Therefore, a mobile robot needs to be not only maneuverable but also stable. We present a new mobile platform named “Rocker-Pillar” which enables a robot to overcome rough terrains with stability. The robot is composed of two sets of caterpillar tracks, four wheels, and a pair of two linkages. The robot can travel a rugged terrain at a speed 50m/min while maintaining stability, and can overcome complex terrains such as holes, steps without frontal sides, and stairs. The robot can overcome a hole 1.5 times larger than the wheel diameter of the robot and a step without the frontal side that is 1.25 times higher than wheel diameter." @default.
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• W2085578998 date "2012-10-01" @default.
• W2085578998 modified "2023-09-26" @default.
• W2085578998 title "Rocker-Pillar : Design of the rough terrain mobile robot platform with caterpillar tracks and rocker bogie mechanism" @default.
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• W2085578998 doi "https://doi.org/10.1109/iros.2012.6385796" @default.
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