R-Mo: A new mobile robotic platform to reduce variations in height and pitch angle on rugged terrain
Dongkyu Choi, Youngsoo Kim, Seungmin Jung, Hwa Soo Kim, Jongwon Kim
Abstract
This paper presents a new mobile robotic platform (R-Mo) which can reduce unexpected variations in height as well as pitch angle of its main body while traversing rough terrains. As a measure for the smooth movement of mobile platform, the variations in height and pitch angle are chosen in this study. Then, the kinematic analysis on the Rocker-Bogie mechanism is carried out to investigate its variations in height and pitch angle on rough terrains. Based on this result, a new mobile platform is systematically designed by combining the Rocker-Bogie with the inverse four bar linkage. The extensive experiments are carried out by using the Rocker-Bogie mechanism and the proposed R-Mo against rough terrain, which validate that in comparison with the Rocker-Bogie mechanism, the average and maximum variations in height of proposed R-Mo are reduced by 12.72% and 5.96%, respectively, and the average and maximum variations in pitch angle of proposed R-Mo are considerably reduced by 65.87 % and 60.53 %, respectively.
BibTeX
@inproceedings{iros2015_rmoanewmobilerob,
title = {R-Mo: A new mobile robotic platform to reduce variations in height and pitch angle on rugged terrain},
author = {Dongkyu Choi and Youngsoo Kim and Seungmin Jung and Hwa Soo Kim and Jongwon Kim},
booktitle = {IROS 2015},
year = {2015}
}