A Study on Robotic Stair Descent Using Tristar Wheels

Abstract

With the declining birthrate, aging society, and declining population in Japan, robots have been attracting attention as a means to carry out logistics. However, there is a risk of robot failure due to the impact of falling down stairs when the robot runs in the city. In this study, we propose a control method to mitigate the impact of falling stairs by using a robot with a tristar wheel.