Abstract
This paper investigates the obstacle climbing ability of a novel passively articulated robot, Polibot, that is compared with a standard tracked robot using a fixed-wheel configuration. Two test cases are analysed: the traverse of a single obstacle and the navigation upward along a vertical surface. Both scenarios are analytically solved using a quasi-static Newton-Euler approach. The dynamic equilibrium of the system is also defined using an energetic approach, focusing on the energy loss due to wheel-ground slippage. Understanding the role played by the different energy components contributes to shedding light on the fundamental mechanisms underlying the negotiation of obstacles and highly challenging terrain, in general, by suspended tracked robots. Finally, experimental results are presented to validate the proposed approach in real-world conditions.
