Abstract
Wheeled vehicles have low ability to climb stairs. We proposed a simple mechanism for geometrically complete trochoid as a novel omnidirectional translation mechanism. It has high ability not only to get over the difference in level, but also to climb a stairs stably with simple climbing craws. In this paper, a prototype model was constructed using the craw. The craw does not disturb smooth omnidirectional translation. We propose a novel driving method also to realize omnidirectional translation on narrow treads. By the combination of the climbing craw and the novel driving method, this mechanism can climb stably a stairs, step by step.
