2A2-L04 Trial production and analysis of a stair climbing robot that equips only one motor(Mobile Robot with Special Mechanism)

摘要

This paper shows a new mechanism that is designed for a stair climbing robot. This mechanism is proposed for a rescue robot that moves to search for victims in crashed buildings. To realize a simple construction of rescue robots, the mechanism is driven by only one motor to climb a stair. Results of experiments with a half-sized real robot and simulation with a virtual robot are compared in a view point of motion analysis and show the effectiveness of the mechanism.