Study on a mechanism and control of a wheelchair constituting of wheels that are effective in climbing stairs and rolling without slippery

为了提高四轮滑移式移动机器人在崎岖地形上的机动性和性能，研究了一种轮式机构，该机构在轮周位置安装6个脚踝关节，通过每只脚的脚趾逐个着陆。导线-引入了评估跨障碍性能的能力，涉及到包括其反向运动。

For the purpose of improving mobility and performance of four-wheeled skid-steering mobile robots(4 WSSMRs) on rough terrain, we studied a wheel mechanism installing six ankle joints at circumferential positions of a wheel for landing by the toe of each foot one by one. Traverse-ability to evaluate a performance of stepping up/over obstacles concerned with including its reverse motion has been introduced.