Development of Multi-Link Mobile Robot for Rough Road Driving

In this paper, design and implementation of multi-modular robots of similar structure to the arthropods for rock path driving. Each module corresponds to an arthropod joint, which has an independent power supply and control equipment including drive and short-range Zigbee wireless communication that were implemented. On various directions and paths each module has the same driving direction and each module is controlled to operate or not by wireless communication. Depending on path condition, each module calculate the speed and torque and depending on the slope of a rough path, the number of active modules can be changed for the efficient driving on a variety of roads conditions. Experimental driving through rough road model, variable multi-module robot is implemented.