Abstract
This study proposes a mechanism and a methodology for large force input to the environment by a mobile robot. To determine the limits on the force that a mobile robot can apply to a target object, we analyzed the forces between the robot, ground, and object, and the frictional-force limits between any two of these three bodies. To prevent the mobile robot from falling during the large-force application, the manipulator is connected to the robot via a passive rotational joint. This mechanism enables the mobile robot to search the environmental parameters. A new mobile robot fitted with the proposed mechanism, named ARODA, was developed. In a validation experiment, the developed mobile robot successfully tilted a relatively large and heavy object while searching the environmental parameters (the frictional coefficients of the floor and object and the size of the object). Equipped with the proposed mechanism, the mobile robot refrained from falling while applying a large force to the object by trial and error.
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