Stair climbing control for Stair climbing robot with Involute-Curve-Shaped-Mechanism

Abstract

For stair climbing by a mobile robot, we have developed a 1-DOF mechanism that allows a rotating axis to be lifted with less torque. In this paper, we describe the control method for stair climbing in this robot. Specifically, instead of using the angular velocity of the motor as a direct input, we used the angular velocity that considers the amount of change in posture as an input. The usefulness of the proposed method was confirmed by simulation.