Design of a gravitational wheeled robot

Kiyoshi Ioi, Harukazu Igarashi, Ayanobu Murakami

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


This paper deals with a novel mobile robot to overcome unusual sized obstacles or uneven ground. The robot proposed here has a compact driving mechanism between dual parallel big wheels. First, we explain the basic principle and structure of ourobot, and show the specifications of our prototype robot and the result of some mechanical experiments. In these experiments, we also report the result of the velocity control accompanied with two one-chip microcomputers (PICs) and we design a new leg for the attachment of a range sensor. Finally, we summarize our obtained results and some future works.

Original languageEnglish
Pages (from-to)785-793
Number of pages9
JournalAdvanced Robotics
Issue number8
Publication statusPublished - 2002 Dec 1
Externally publishedYes


  • Gravitational wheel
  • Mobile robot
  • PIC
  • Pendulum
  • Range sensor

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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