Study on mobile mechanism of a climbing robot for stair cleaning: A translational locomotion mechanism and turning motion

Takahisa Kakudou, Keigo Watanabe, Isaku Nagai

Research output: Contribution to journalArticle

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 needs to turn for direction in addition to climb down stairs. The proposed robot selects movement using legs or wheels depending on stairs or flat surfaces. In this paper, a mobile mechanism and a control method are described for translational locomotion. The translational mechanism is based on using two-wheel-drive type omni-directional mobile mechanism. To recognize a stair using the position-sensitive detector, the robot shifts from translational locomotion to climbing down motion or edge-following motion. It is shown that the proposed robot turns to face a stair with the accuracy of 5°.

Original languageEnglish
Pages (from-to)400-404
Number of pages5
JournalArtificial Life and Robotics
Volume17
Issue number3-4
DOIs
Publication statusPublished - 2013

Fingerprint

Stairs
Locomotion
Cleaning
Robots
Leg
Wheels
Stair Climbing
Detectors
Direction compound

Keywords

  • Cleaning robot
  • Climbing robot
  • Stair

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biochemistry, Genetics and Molecular Biology(all)

Cite this

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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 needs to turn for direction in addition to climb down stairs. The proposed robot selects movement using legs or wheels depending on stairs or flat surfaces. In this paper, a mobile mechanism and a control method are described for translational locomotion. The translational mechanism is based on using two-wheel-drive type omni-directional mobile mechanism. To recognize a stair using the position-sensitive detector, the robot shifts from translational locomotion to climbing down motion or edge-following motion. It is shown that the proposed robot turns to face a stair with the accuracy of 5°.",
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