Control of movement on stairs for a cleaning robot

Takahisa Kakudou; Keigo Watanabe; Isaku Nagai

Control of movement on stairs for a cleaning robot

Takahisa Kakudou, Keigo Watanabe, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

An autonomous cleaning robot is proposed so as to move on all floors including stairs in a building. In human living environments, it is often the case that the cleaning area is a three-dimensional space such as a high-rise building. However, many of cleaning robots cannot clean and move on stairs, because they are not considered to move on places between floors. The proposed cleaning robot possesses L-shaped legs on the both sides of the body frame of a rectangular solid. The robot climbs down stairs by rotating the body so that the top and bottom sides of it may be reversed using L-shaped legs. In this paper, the mechanism and its control method are described for translational movement on stairs.

Original language	English
Title of host publication	Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
Pages	391-394
Number of pages	4
Publication status	Published - Dec 1 2011
Event	16th International Symposium on Artificial Life and Robotics, AROB '11 - Beppu, Oita, Japan Duration: Jan 27 2011 → Jan 29 2011

Publication series

Name	Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11

Other

Other	16th International Symposium on Artificial Life and Robotics, AROB '11
Country	Japan
City	Beppu, Oita
Period	1/27/11 → 1/29/11

Keywords

Cleaning robot
Stairs
Translational movement

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Human-Computer Interaction

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Control of movement on stairs for a cleaning robot. / Kakudou, Takahisa; Watanabe, Keigo ; Nagai, Isaku.

Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11. 2011. p. 391-394 (Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kakudou, T, Watanabe, K & Nagai, I 2011, Control of movement on stairs for a cleaning robot. in Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11. Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11, pp. 391-394, 16th International Symposium on Artificial Life and Robotics, AROB '11, Beppu, Oita, Japan, 1/27/11.

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