ロッカーリンクと差動機構を有する車輪型移動機構による階段昇降の検討

―小型実験機を用いた直階段と螺旋階段の昇段動作の検証―

抄録

In this study, the ascending and descending of straight and spiral stairs using wheeled mobile mechanism is investigated. The issues in each staircase are identified. Based on a rocker link and differential mechanism, a mechanism with wheelbase variable mechanism, canter of gravity shifting mechanism, wheel steering mechanism and wheel pitch axis variable mechanism is proposed. Experiments with small experimental machines have confirmed the effectiveness of the respective mechanisms.