Study on mobile mechanism for a stair cleaning robot - Design of translational locomotion mechanism

Takahisa Kakudou, Keigo Watanabe, Isaku Nagai

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

8 Citations (Scopus)

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 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 is equipped with 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, a mobile mechanism and a control method are described for climbing down and translational movement on stairs.

Original languageEnglish
Title of host publicationICCAS 2011 - 2011 11th International Conference on Control, Automation and Systems
Pages1213-1216
Number of pages4
Publication statusPublished - Dec 1 2011
Event2011 11th International Conference on Control, Automation and Systems, ICCAS 2011 - Gyeonggi-do, Korea, Republic of
Duration: Oct 26 2011Oct 29 2011

Publication series

NameInternational Conference on Control, Automation and Systems
ISSN (Print)1598-7833

Other

Other2011 11th International Conference on Control, Automation and Systems, ICCAS 2011
CountryKorea, Republic of
CityGyeonggi-do
Period10/26/1110/29/11

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Keywords

  • Cleaning robot
  • Mobile mechanism
  • Stairs

ASJC Scopus subject areas

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

Cite this

Kakudou, T., Watanabe, K., & Nagai, I. (2011). Study on mobile mechanism for a stair cleaning robot - Design of translational locomotion mechanism. In ICCAS 2011 - 2011 11th International Conference on Control, Automation and Systems (pp. 1213-1216). [6106112] (International Conference on Control, Automation and Systems).