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

Takahisa Kakudou; Keigo Watanabe; Isaku Nagai

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 proceeding › Conference 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 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 language	English
Title of host publication	ICCAS 2011 - 2011 11th International Conference on Control, Automation and Systems
Pages	1213-1216
Number of pages	4
Publication status	Published - Dec 1 2011
Event	2011 11th International Conference on Control, Automation and Systems, ICCAS 2011 - Gyeonggi-do, Korea, Republic of Duration: Oct 26 2011 → Oct 29 2011

Publication series

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

Other

Other	2011 11th International Conference on Control, Automation and Systems, ICCAS 2011
Country	Korea, Republic of
City	Gyeonggi-do
Period	10/26/11 → 10/29/11

Keywords

Cleaning robot
Mobile mechanism
Stairs

ASJC Scopus subject areas

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

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Study on mobile mechanism for a stair cleaning robot - Design of translational locomotion mechanism. / Kakudou, Takahisa; Watanabe, Keigo ; Nagai, Isaku.

ICCAS 2011 - 2011 11th International Conference on Control, Automation and Systems. 2011. p. 1213-1216 6106112 (International Conference on Control, Automation and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 6106112, International Conference on Control, Automation and Systems, pp. 1213-1216, 2011 11th International Conference on Control, Automation and Systems, ICCAS 2011, Gyeonggi-do, Korea, Republic of, 10/26/11.

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