Research of deformation wheel for getting over steps

This paper proposes a new deformed wheel for steps Circular wheels which are excellent in moving speed and steering on flat ground. However, the step height that can be getting over depends on the wheel diameter. In the outdoor environment, there is a step between the road and the sidewalk, so the place where the wheel robot plays an active role is not prepared. Therefore, we have developed a deformed wheel for steps, which generates protrusions by deforming the wheels and improves getting over performance. In order to confirm the effectiveness of the developed robot, we conducted a comparative experiment of getting over steps ability. As a result of the experiment, it was possible to get over the step higher than the circular wheel by using the deformed wheel for the step, and it was possible to get over a step of 0.68 times the wheel diameter at the maximum.