Paper Info
Title
Rocker-Pillar : Design of the rough terrain mobile robot platform with caterpillar tracks and rocker bogie mechanism
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.
Year
DOI
Venue
2012
10.1109/IROS.2012.6385796
IROS
Keywords
Field
DocType
rocker-pillar,mobile robots,rough terrain mobile robot,caterpillar tracks,rocker bogie mechanism,stability,couplings
Robot control,Linkage (mechanical),Bang-bang robot,Simulation,Computer science,Control theory,Terrain,Control engineering,Bogie,Robot,Mobile robot,Articulated robot
Conference
ISSN
ISBN
Citations 
2153-0858
978-1-4673-1737-5
1
PageRank 
References 
Authors
0.37
2
5
Name
Order
Citations
PageRank
Dongkyu Choi118113.69
Jeong R. Kim210.37
Sunme Cho310.37
Seungmin Jung482.47
Jongwon Kim51042153.38