arxivcs.RO2026-07-02
A Reconfigurable Rocker-Bogie Robot for High Step Climbing and Turning
Kento Koizumi, Tomoaki Ohba, Yuta Saito, Takeya Morito, Kenji Suzuki
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 enabl…