A Reconfigurable Rocker-Bogie Robot for High Step Climbing and Turning

• URL: http://arxiv.org/abs/2607.01554v1
• Date: Thu, 02 Jul 2026 00:22:50 GMT
• Title: A Reconfigurable Rocker-Bogie Robot for High Step Climbing and Turning
• Abstract summary: Reconfigurable rocker-bogie mechanism achieves efficient turning motion with a small number of actuators.<n>System enables switching between four-wheel and six-wheel configurations.<n>Prototype robot successfully climbed a 40 cm step with an average climbing time of 6.4 s.
• Score: 14.083125131628549
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• 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.

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