Development of a Holonomic Omni-Directional Mobile Robot with Step-Climbing Ability
Atsushi Yamashita*, Tatsuya Kanazawa**, Hajime Asama***, Hayato Kaetsu***, Isao Endo***, Tamio Arai****, and Kazumi Sato**
*Department of Machinery Engineering, Shizuoka University, 3-5-1 Johoku, Hamamatsu-shi, Shizuoka, 432-8561, Japan
**Department of Industrial Chemistry, Science University of Tokyo, 1-3 Kagurazaka, Shinjuku-ku, Tokyo, 162-8601, Japan
***The Institute of Physical and Chemical Research(RIKEN), 2-1 Hirosawa, Wako-shi, Saitama, 351-0198, Japan
****Department of Precision Machinery Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan
In this paper, we purpose a new holonomic omnidirectional mobile robot that can pass over steps and rough terrain. A prototype of the omnidirectional mobile robot has seven wheels with free rollers. We adopt a passive suspension for the robot to climb slopes and to pass over steps without actuators and sensors for climbing and analyzed the kinematics of the omnidirectional robot. The performance of the prototype robot is shown through experiments.
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