Stair Climbing of an Articulated Mobile Robot via Sequential Shift

被引：0
|
作者：
Tanaka, Motoyasu [1 ]
Tanaka, Kazuo [1 ]
机构：
[1] Univ Electrocommun, Dept Mech Engn & Intelligent Syst, Tokyo 1828585, Japan
来源：
2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) | 2015年
关键词：
SNAKE-LIKE ROBOT;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a sequential stair climbing method for an articulated mobile robot. The robot has active wheeled links connected by active rotational joints. In the method, some parts of the robot's body defined as a connecting part are used to step over risers in stairs, and the robot climbs up stairs by shifting the connecting parts from forward to backward. A condition on which the robot can climb stairs by the proposed method is presented. Simulation results confirm the effectiveness of the proposed method.
引用
收藏
页码：877 / 881
页数：5
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