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Recently, various mechanisms have been developed combining linkage mechanisms and wheels, especially, the combination of passive linkage mechanisms and small wheels is one of main research trends, because standard wheel type mobile mechanisms have difficulties on rough terrain movements. In our research, a 6-wheeled mobile robot employing a passive linkage mechanism has been developed to enhance maneuverability...
A wheeled mobile mechanism with a passive and/or active linkage mechanism for rough terrain environment is developed and evaluated. In our previous research, we developed a switching controller system for wheeled mobile robots in rough terrain. This system consists of two sub-systems: an environment recognition system using self-organizing map (SOM) and an adjustable control system using neural network...
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