Control of movement on stairs for a cleaning robot

Takahisa Kakudou, Keigo Watanabe, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationProceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
Pages391-394
Number of pages4
Publication statusPublished - Dec 1 2011
Event16th International Symposium on Artificial Life and Robotics, AROB '11 - Beppu, Oita, Japan
Duration: Jan 27 2011Jan 29 2011

Publication series

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

Other

Other16th International Symposium on Artificial Life and Robotics, AROB '11
CountryJapan
CityBeppu, Oita
Period1/27/111/29/11

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Keywords

  • Cleaning robot
  • Stairs
  • Translational movement

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction

Cite this

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