Abstract
In this paper, step climbing capabilities of wheeled mobile robots are studied in theory and experiments. To estimate and verify the enhanced mobility of a 4WD system, statics of a wheel-and-step system is analyzed and surmountable capabilities are tested in experiments not only for 4WD but also for a conventional rear-drive configuration. For the experiments, a 4-wheeled small vehicle is designed and built which equips four normal wheels two or all of that are driven by two electric motors. In the experiments, the small vehicle with 4WD drive configuration overcomes a step more than three times of the conventional RD configuration in the step height.
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