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

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...

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Bibliographic Details
Published in:Artificial life and robotics 2013-02, Vol.17 (3-4), p.400-404
Main Authors: Kakudou, Takahisa, Watanabe, Keigo, Nagai, Isaku
Format: Article
Language:English
Subjects:
Artificial Intelligence
Cleaning
Climb
Computation by Abstract Devices
Computer Science
Control
Human
Legs
Locomotion
Mechatronics
Original Article
Recognition
Robotics
Robots
Three dimensional
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Summary: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°.
ISSN:1433-5298
1614-7456
DOI:10.1007/s10015-012-0071-z