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This paper proposes the design concept that prevents its total weight from increasing. The object of the methodology is to modify a conventional robot chassis for structural simplicity by composing the chassis from an elastic material so that it can reduce vibration and shock to the body. This idea makes it unnecessary to attach additional elements, such as suspension units; in addition, it means...
Recently mobile robots act in various situations such as disaster areas, office buildings, factories and homes. When these new mobile robots are released, they should be confirmed to work correctly and safety from evaluation. In this paper, we propose large-scale simulation environment of mobile robots on StarBED which is a large-scale networked testbed. By using the simulation environment, we could...
This paper presents smooth switching phases utilized in the mode change between leg-type and wheel-type locomotion for ascending and descending a slope. The phases are classified into three, i.e, walking, mode change, and rolling phases. In each case, we simulate the robot motion to visualize for verification. Also, we show that the balanced control between right and left side of the robot in the...
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