Name
Abstract | ||
|---|---|---|
In this paper, we propose the design of a single-wheeled robot capable of climbing stairs. The robot is equipped with the proposed climbing mechanism, which enables it to climb stairs. The mechanism has an extremely simple structure, comprised of a parallel arm, belt, harmonic drive, and pulley. The proposed climbing mechanism has the advantage of not requiring an additional actuator because it can be driven by using a single actuator that drives the wheel. The robot is equipped with a control moment gyroscope to control the stability in a lateral direction. Experimental results demonstrate that the robot can climb stairs with a riser height of 12-13 cm and a tread depth of 39 cm at an approximate rate of 2 to 3 s for each step. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1080/01691864.2020.1749927 | ADVANCED ROBOTICS |
Keywords | DocType | Volume |
Stair-climbing robot,inverted pendulum robot,single-wheeled robot,differential mechanism | Journal | 34.0 |
Issue | ISSN | Citations |
10 | 0169-1864 | 0 |
PageRank | References | Authors |
0.34 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ananta Adhi Wardana | 1 | 0 | 0.34 |
| Takeshi Takaki | 2 | 222 | 38.04 |
| Mingjun Jiang | 3 | 0 | 0.34 |
| Idaku Ishii | 4 | 355 | 64.37 |