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 language | English |
|---|---|
| Title of host publication | Proceedings of the SICE Annual Conference |
| Pages | 145-148 |
| Number of pages | 4 |
| Publication status | Published - 2012 |
| Event | 2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan Duration: Aug 20 2012 → Aug 23 2012 |
Other
| Other | 2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 |
|---|---|
| Country | Japan |
| City | Akita |
| Period | 8/20/12 → 8/23/12 |
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Keywords
- Cleaning robot
- Climbing robot
- Stair
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
Cite this
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 proceeding › Conference contribution
}
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 -