Mobile robot for uneven terrain

Kenneth Chin, University of Pennsylvania
Robert Breslawski, University of Pennsylvania
Terry Kientz, University of Pennsylvania
R. Vijay Kumar, University of Pennsylvania

Article comments

Postprint version. Published in Proceedings of the 2002 ASME Design Engineering Technical Conference (DETC 2002), 27th Biennial Mechanisms and Robotics Conference, Volume 5B, pages 1327-1333.

Abstract

This paper outlines the details of the development of a mobile robot than can navigate uneven terrain. The robot incorporates a combination of wheels and legs. The legs are based on a parallel-drive 2-R linkage that allows the motors to be located on the robot frame. The legs are driven through servo motors while the wheels are powered through DC motors. A PIC microcontroller is used to control the system, while a novel IR-based communication module allows the user to remotely control the device. In the proof-of-concept prototype, a human operator can control the approximately 6x9x4 inches (15.24x22.86x10.16 cm) and approximately 8 lb. (3.63 kgs) robot (with onboard electronics and control systems) to climb and descend steps. Future versions can be expected to be autonomous and equipped with cameras and ad hoc networking cards for field operations.