TY - GEN
T1 - Control of movement on stairs for a cleaning robot
AU - Kakudou, Takahisa
AU - Watanabe, Keigo
AU - Nagai, Isaku
PY - 2011/12/1
Y1 - 2011/12/1
N2 - 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.
AB - 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.
KW - Cleaning robot
KW - Stairs
KW - Translational movement
UR - http://www.scopus.com/inward/record.url?scp=84866713716&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84866713716&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84866713716
SN - 9784990288051
T3 - Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
SP - 391
EP - 394
BT - Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
T2 - 16th International Symposium on Artificial Life and Robotics, AROB '11
Y2 - 27 January 2011 through 29 January 2011
ER -