Abstract
We are developing a mobile robot base which works in indoor and outdoor environment. This mobile robot base has two main driving wheels and four steering wheels. The driving forces are given to steering wheels from main driving wheels via friction wheels. The front and rear steering wheels of each sidϵ are steered mechanically in the opposite phase, and can be swung up and down by DC motors to lift up the body of this vehicle. So that, the vehicle can travels over a step of 18[cm]. It has ultrasonic sensors to detect distance to step, and optical sensors to detect a negative step edge on the floor. And it has tilt angle sensors to detect the posture of its main body, to keep its posture. This vehicle will be useful to apply to wheel chair or mobile manipulator base, which has to work on various indoor and outdoor grounds.
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