Abstract
Almost home robots have wheels. They are suitable to move around on the flat flour but it's difficult to go up stairs. So, our research purpose to develop a small biped robot that can climb stairs. A step of stair is small enough for human but it will be a big wall for small size robot. Therefore, whole body motion should be necessary for small robot to ride over such a wall. This research starts in analysis of a motion that a person gets over a wall. Next, we simplified the motion. The simplified motion needs three degrees of freedom. We designed robots mechanics by using simple prototype model that is made by cardboard. And, we simulated the motion with physics engine, Open Dynamics Engine (ODE). The motion and mechanics could climb a wall in simulation, so we made small humanoid robot that name is Dopey. We show that our Dopey can climb a wall by experiment same as the simulation.
