Proposal of step climbing of wheeled robot using slip ratio control

Abstract

This paper proposes a method which enables wheeled robot to climb a step that is higher than the radius of the wheel. In conventional method, this is impossible, because driving force of front wheel is not enough. This paper proposes a method utilizing the moment of impact between the wheel and the step to maximize the normal force, and hence the driving force of the front wheel. Effectiveness of the proposed method is verified by simulations and experiments.