Development of VmaxCarrier2: omni-directional mobile robot with function of step-climbing

Abstract

"VmaxCarrier2" is an omni-directional mobile robot with step-climbing capability, which can be used as a compact, quiet, and durable transportation vehicle in cluttered and cramped environments. We have already developed several kinds of omni-directional mobile robots for situations where it is desirable to be able to move in all directions, such as "VUTON" and "VmaxCarrier". To construct an omni-directional mobile robot with a greatly improved capability to climb steps, we developed the Omni-Disc2, a bent pneumatic actuator, and a pneumatic system. These novel components were constructed into a prototype, and through evaluation experiments we have confirmed the improved step climbing capability of VmaxCarrier2.