Abstract
An autonomous cleaning robot is proposed so as to move between floors in a high-rise building. The autonomous cleaning robot reduces labors and saves energy for cleaning task. However, many of cleaning robots are not considered to move on places between floors. In human living environments, it is often the case that the cleaning area is three-dimensional space such as a highrise building. Therefore, the cleaning robots can not clean the area such as stairs. Proposed cleaning robot consists of a body frame of rectangular solid and L-shaped legs. The robot climbs down stairs by rotating the body so that the upper and lower sides of it may be reversed. In this paper, a mechanism and a control method are described for moving on stairs.
