Development of a Stairs Climbing Robot with the Transformable Wheels

DOI

Bibliographic Information

Other Title
  • 変形車輪を用いた段差移動ロボットの研究

Description

Building is few equipped with elevator. Transportation work there is done by hand. We has succeeded in elevating experiments lightweight load in stair-climbing mechanism using a Transformable Wheels. Put into practical use is needed to carry in a stable thing. Mechanism to keep horizontal carrier on the steps you need to do so. However, state weight, center of gravity position changes in various ways by luggage. So need to maintain horizontal control which can respond. Invented a horizontal maintenance mechanism of carrier part in this study, we consider a control system based on the motion model. It is believed that stabilized using membership functions of fuzzy theory is valid since it is necessary to detect by the sensor the position of the carrier unit, set appropriate control parameters depending on the situation.

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Keywords

Details 詳細情報について

  • CRID
    1390001205672071424
  • NII Article ID
    130005480314
  • DOI
    10.14864/fss.29.0_216
  • Text Lang
    ja
  • Data Source
    • JaLC
    • CiNii Articles
  • Abstract License Flag
    Disallowed

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