A Reconfigurable Rocker-Bogie Robot for High Step Climbing and Turning
arXiv:2607.01554v1 Announce Type: new Abstract: This study proposes a reconfigurable rocker-bogie mechanism that achieves efficient turning motion with a small number of actuators while maintaining high step-climbing capability. By installing motors at the bogie joints and actively swinging up and down bogies, the system enables switching between four-wheel and six-wheel configurations. Omnidirectional wheels are mounted on the rear ends of the rockers, allowing smooth turning in the four-wheel
Overview
arXiv:2607.01554v1 Announce Type: new Abstract: This study proposes a reconfigurable rocker-bogie mechanism that achieves efficient turning motion with a small number of actuators while maintaining high step-climbing capability. By installing motors at the bogie joints and actively swinging up and down bogies, the system enables switching between four-wheel and six-wheel configurations. Omnidirectional wheels are mounted on the rear ends of the rockers, allowing smooth turning in the four-wheel configuration based on a differential-drive model. Experimental evaluation using a prototype robot demonstrated that the proposed mechanism achieves zero-radius turning at a speed more than five times that of a conventional rocker-bogie mechanism equipped with six non-steerable grip wheels, while requiring only approximately 17% of the total average wheel torque. In addition, the robot successfully climbed a 40 cm step with an average climbing time of 6.4 s, confirming its high turning and step-climbing performance.
Source
Originally published at arxiv.org.
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Source: https://arxiv.org/abs/2607.01554
