Stair-climbing robot with expandable wheels -Load reduction and fluctuation suppression by deployment amount control-

Abstract

Barrier-free building and infrastructure facilities in the city have progressed to some extent, but regional responses have not progressed. Under such circumstances, vehicles and carts capable of moving up and down steps and stairs without human assistance are expected. Although the stair-climbing robot using the deployment wheel proposed by us is suitable for such a use, a high output motor is required because the load at the stair-climbing is excessive. In this research, it is possible to reduce the load on the motor and minimize the rocking by controlling the amount of expansion when moving up and down. The outline of the control method is described, and the effects are verified.