抄録
This paper proposes a stairs cleaning robot that is controlled autonomously not only on a floor but also on the stairs. The shape of this robot is like a loop: it comprises eight units that are connected via eight motor modules. This robot has an active cord mechanism, and is able to go down stairs fitting the body to the stairs by loop-gait locomotion. It can travel on the stair transversely because each of the four main units has an omni-directional wheel. The dusts on the stair are swept away downstairs, and another robot collects the dusts. This paper discusses the possibility of the stairs cleaning robot through simulation and experiment.
