Development of a single-wheeled inverted pendulum robot capable of climbing stairs |
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Authors: | A A Wardana M Jiang I Ishii |
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Affiliation: | Department of System Cybernetics, Faculty of Engineering, Hiroshima University, Higashihiroshima, Japan |
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Abstract: | ABSTRACTIn 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. |
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Keywords: | Stair-climbing robot inverted pendulum robot single-wheeled robot differential mechanism |
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