JRM Vol.32 No.4 pp. 780-788
doi: 10.20965/jrm.2020.p0780


Improvement of the Mobility on the Step-Field for a Stair Climbable Robot with Passive Crawlers

Junji Hirasawa

Department of Electronics and Control Engineering, National Institute of Technology, Ibaraki College
866 Nakane, Hitachinaka, Ibaraki 312-8508, Japan

March 12, 2019
May 30, 2020
August 20, 2020
step-field, evaluation, mobile robot, stair climbing, passive crawler
Improvement of the Mobility on the Step-Field for a Stair Climbable Robot with Passive Crawlers

Test vehicle that had additional crawlers

This paper describes about improvements in the mobility of a stair climbable mobile robot on a step-field. A step-field, standardized by the National Institute of Standards and Technology (NIST), is a simulated artificial rough terrain used for testing rescue robots. Its use was popularized worldwide in the RoboCup Rescue contest, but a method for evaluating test results from it has yet to be established sufficiently. The author of this paper attempts to evaluate the mobility of stair climbable mobile robots on step-fields. A novel method using the 2 parameters of yaw-angle error and lateral position error is proposed. Two actual robots, SMART-IV type A and SMART-IV type B, are constructed and evaluated on small step-fields. The test results indicate that both robots can traverse the step-field under some appropriate conditions, but a comparison of the results indicates that the proposed design changes may be declared an improvement of the robot.

Cite this article as:
J. Hirasawa, “Improvement of the Mobility on the Step-Field for a Stair Climbable Robot with Passive Crawlers,” J. Robot. Mechatron., Vol.32, No.4, pp. 780-788, 2020.
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Last updated on Dec. 03, 2020