重心移動を用いた階段昇降機能を有するロボットの提案

抄録

In this study, we propose an inverted two-wheeled stair-climbing robot. This robot is highly maneuverable and compact. Conventional stair-climbing robots have disadvantages such as large size and complicated mechanical configuration to perform their functions. In order to solve such disadvantages, the proposed robot is an inverted two-wheeled type. In this paper, we simulate the proposed robot running on a flat surface, and statically analyze the robot climbing up stairs. The analysis results show that the proposed robot is capable of running on a plane and climbing stairs.