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In many fields employing robots, e.g., wheelchair robots, rescue robots, and construction robots, robots that can move on rough terrains are desired. A robot with a simple mechanism and high mobility for all terrains is discussed in this paper. A four-wheel-type mobile robot is developed, and its design is discussed from a functional viewpoint. Its fundamental capability of moving on rough terrains is verified through simulations and experiments.
Date of Conference: 22-25 Feb. 2009