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 publicationProceedings of the SICE Annual Conference
Pages145-148
Number of pages4
Publication statusPublished - 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

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

Fingerprint

Stairs
Cleaning
Robots
Wheels
Detectors

Keywords

  • Cleaning robot
  • Climbing robot
  • Stair

ASJC Scopus subject areas

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

Cite this

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

Mobile mechanism of a climbing robot for cleaning and locomotion on stairs. / Kakudou, Takahisa; Watanabe, Keigo; Nagai, Isaku.

Proceedings of the SICE Annual Conference. 2012. p. 145-148 6318423.

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

Kakudou, T, Watanabe, K & Nagai, I 2012, Mobile mechanism of a climbing robot for cleaning and locomotion on stairs. in Proceedings of the SICE Annual Conference., 6318423, pp. 145-148, 2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012, Akita, Japan, 8/20/12.
Kakudou T, Watanabe K, Nagai I. Mobile mechanism of a climbing robot for cleaning and locomotion on stairs. In Proceedings of the SICE Annual Conference. 2012. p. 145-148. 6318423
Kakudou, Takahisa ; Watanabe, Keigo ; Nagai, Isaku. / Mobile mechanism of a climbing robot for cleaning and locomotion on stairs. Proceedings of the SICE Annual Conference. 2012. pp. 145-148
@inproceedings{834e524c63c84dfeae86745bca15a4bd,
title = "Mobile mechanism of a climbing robot for cleaning and locomotion on stairs",
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.",
keywords = "Cleaning robot, Climbing robot, Stair",
author = "Takahisa Kakudou and Keigo Watanabe and Isaku Nagai",
year = "2012",
language = "English",
isbn = "9781467322591",
pages = "145--148",
booktitle = "Proceedings of the SICE Annual Conference",

}

TY - GEN

T1 - Mobile mechanism of a climbing robot for cleaning and locomotion on stairs

AU - Kakudou, Takahisa

AU - Watanabe, Keigo

AU - Nagai, Isaku

PY - 2012

Y1 - 2012

N2 - 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.

AB - 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.

KW - Cleaning robot

KW - Climbing robot

KW - Stair

UR - http://www.scopus.com/inward/record.url?scp=84869426045&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84869426045&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:84869426045

SN - 9781467322591

SP - 145

EP - 148

BT - Proceedings of the SICE Annual Conference

ER -