2A2-D06 Shortening of Required Tread Length for Fast Stair-climbing by 2-DOF Two-wheeled Hopping System(Wheeled Robot / Tracked Vehicle (2))

Abstract

In this paper, we propose a fast stair-climbing robot with a simple hopping mechanism using vibration of the two-degrees-of-freedom (2-DOF) system. This robot consists of upper and lower bodies connected by a spring and a wire, and hops by releasing stored energy in the spring and travels quickly using wheels mounted in the lower body. These mechanisms allow the robot to climb stairs quickly and economically and land softly without a complex control. Here, we developed a two-wheeled inverted pendulum mechanism to reduce the required tread length. As a result, the proposed mechanism reduced impact acceleration by 66% during the first landing and 60% during the second landing for the climbing height of 200 mm and reduced the required tread length by 92%.