The Development of a Stair-climbing Robot with Wavy Movement by Rotating Crosses

Ato Kitagawa; Liang Zhang; Takashi Eguchi; Hideyuki Tsukagushi

doi:10.20965/jrm.2002.p0298

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JRM Vol.14 No.3 pp. 298-303

doi: 10.20965/jrm.2002.p0298

(2002)

Paper:

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The Development of a Stair-climbing Robot with Wavy Movement by Rotating Crosses

Ato Kitagawa^, Liang Zhang^, Takashi Eguchi^** and Hideyuki Tsukagushi^*

^*Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 0okayama, Meguro-ku, Tokyo, 152-8552, Japan

^**Agilent Technologies Japan, Ltd. 9-1 Takakura-cho Hachioji-shi Tokyo, 192-8510, Japan

Received:

November 7, 2000

Accepted:

February 22, 2002

Published:

June 20, 2002

Keywords:

stairs, mobile robot, wavy movement, rotating crosses

Abstract

A new type of movement called wavy movement, which is realized by rotating crosses, is proposed to build a stair-climbing fire-fighting robot. The prototype robot consists of 12 crosses, which are driven by 2 motors via sprockets and chains. In this paper, the principle of wavy movement, the mechanism, the design method, and the experimental result of the developed robot are discussed. It is confirmed through experiment that a robot with wavy movement is able to climb stairs with simple structure and easy control method.

Cite this article as:

Ato Kitagawa, Liang Zhang, Takashi Eguchi, and Hideyuki Tsukagushi, “The Development of a Stair-climbing Robot with Wavy Movement by Rotating Crosses,” J. Robot. Mechatron., Vol.14, No.3, pp. 298-303, 2002.

Data files:

The Development of a Stair-climbing Robot with Wavy Movement by Rotating Crosses

Ato Kitagawa*, Liang Zhang*, Takashi Eguchi** and Hideyuki Tsukagushi*

Ato Kitagawa^, Liang Zhang^, Takashi Eguchi^** and Hideyuki Tsukagushi^*