Mobile mechanism of a climbing robot for cleaning and locomotion on stairs

Takahisa Kakudou, Keigo Watanabe, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

In human living environments, it is often the case that the cleaning area is three-dimensional space such as a high-rise building. An autonomous cleaning robot is proposed so as to move on all floors including stairs in a building. When a robot cleans in three-dimensional space, it has to turn for direction in addition to climb down stairs. The proposed robot selects movement using legs or wheels depending on stair or flat surface. In this paper, a mobile mechanism and a control method are described for translational locomotion. The translational mechanism is based on a two-wheel-drive type omni-directional mobile mechanism. It is tested to recognize stair using the position sensitive detector (PSD), when shifts from translational locomotion to climbing down motion or edge-following motion.

Original languageEnglish
Title of host publication2012 Proceedings of SICE Annual Conference, SICE 2012
PublisherSociety of Instrument and Control Engineers (SICE)
Pages145-148
Number of pages4
ISBN (Print)9781467322591
Publication statusPublished - Jan 1 2012
Event2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan
Duration: Aug 20 2012Aug 23 2012

Publication series

NameProceedings of the SICE Annual Conference

Other

Other2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
CountryJapan
CityAkita
Period8/20/128/23/12

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Keywords

  • Cleaning robot
  • Climbing robot
  • Stair

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Kakudou, T., Watanabe, K., & Nagai, I. (2012). Mobile mechanism of a climbing robot for cleaning and locomotion on stairs. In 2012 Proceedings of SICE Annual Conference, SICE 2012 (pp. 145-148). [6318423] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).