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This paper suggests a new performance metric for a mobile platform called as a posture variation index (PVI) to evaluate the smoothness of its movement, which is an important factor to predict undesired oscillations or shocks on a mobile platform while traveling on rugged terrain. The PVI consists of the height and pitch angle variations of center of mass of a mobile platform. By using the PVI, the...
Potential performances of tele-presence mobile platforms and service robots can be greatly enhanced by improving their mobility. So, to maximize mobility becomes a very important subject for indoor mobile platform research. Many mechanisms and control methodologies are suggested, but mobility of indoor mobile platforms are still need to be improved. A stair is the most representative obstacle in indoor...
High mobility performance is the most important key to mobile robots. In this research, a new indoor stair-climbing mobile platform is proposed on the basis of a hybrid-link mechanism. The hybrid link mechanism combining the passive link with the active mechanism can guarantee well-balanced simplicity as well as adaptability performance in comparison with the previous passive mechanisms. First, a...
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