Publications / 1991 Proceedings of the 8th ISARC, Stuttgart, Germany

Wheeled Robots to Overcome Ground Unevenness in Construction Areas

Kazuo Tani, Osamu Matsumoto, Shuuji Kajita, Nobumasa Shirai
Pages 159-166 (1991 Proceedings of the 8th ISARC, Stuttgart, Germany, ISSN 2413-5844)

The recent demand for use of robots in construction areas require realization of robots that can run and work over rough grounds. We seek for the technological possibilities to allow wheeled robots to move freely by overcoming unevenness of the ground. We have studied active suspensions for wheeled robots to minimize the body shake, a wheeled inverted pendulum to detect its altitude and the ground slope, and a wheeled jumping robot to pass over a step. Refining and combining these element technologies, we hope to realize useful wheeled terrain robots.

Keywords: No keywords