[Submitted on 2 Jul 2026]
Title:A Reconfigurable Rocker-Bogie Robot for High Step Climbing and Turning
View a PDF of the paper titled A Reconfigurable Rocker-Bogie Robot for High Step Climbing and Turning, by Kento Koizumi and 3 other authors
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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.
Comments: Accepted for publication in the Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2026)
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2607.01554 [cs.RO]
(or arXiv:2607.01554v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2607.01554
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Kento Koizumi [view email] [v1] Thu, 2 Jul 2026 00:22:50 UTC (3,700 KB)
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