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

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.

Test vehicle that had additional crawlers

Test vehicle that had additional crawlers

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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