TY - GEN
T1 - Study on mobile mechanism for a stair cleaning robot - Design of translational locomotion mechanism
AU - Kakudou, Takahisa
AU - Watanabe, Keigo
AU - Nagai, Isaku
PY - 2011/12/1
Y1 - 2011/12/1
N2 - 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.
AB - 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.
KW - Cleaning robot
KW - Mobile mechanism
KW - Stairs
UR - http://www.scopus.com/inward/record.url?scp=84856521516&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84856521516&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84856521516
SN - 9781457708350
T3 - International Conference on Control, Automation and Systems
SP - 1213
EP - 1216
BT - ICCAS 2011 - 2011 11th International Conference on Control, Automation and Systems
T2 - 2011 11th International Conference on Control, Automation and Systems, ICCAS 2011
Y2 - 26 October 2011 through 29 October 2011
ER -