A study of wheeled mobile robot with a compliant mechanism for climbing up a step

摘要

Summary form only given. The purpose of this study is to develop a wheeled mobile robot which can move on a high step. This robot has a compliant element between the front and the rear wheels. The robot has a spring mechanism which was designed by the authors. As the element is found to be effective for the ascending motion of the wheels from theoretical and experimental considerations, it is important to design the mechanism and to decide the parameters of this element. The method of determining the optimal compliant element is proposed.