Attempt at climbing of spiral staircase for tracked vehicles using reaction force of stairs' handrail

Yuto Ohashi, Shotaro Kojima, Kazunori Ohno, Yoshito Okada, Ryunosuke Hamada, Takahiro Suzuki, Satoshi Tadokoro

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Disaster response robots are important for the investigation of nuclear power and chemical plants. To investigate an area, robots are required to climb straight or spiral staircases because equipment components are installed on different-level floors, which are connected by stairs. Installed stairs are narrow and steep because the location of equipment components is given priority in the environment inside plants. It is considerably difficult for a tracked vehicle, which has high mobility on stairs or rough terrain, to climb spiral staircases. We propose a method for a tracked vehicle to climb spiral staircases. A characteristic of the method is that the tracked vehicle uses the reaction force from a safety wall, which is installed to prevent objects from dropping down and damaging the equipment in plants. It is shown that the climbing motion is easy to perform using the wall without complicated control, as compared to when the wall is not used. The climbing motion of a robot on a spiral staircase using a wall is analyzed by employing a dynamic model. Experimental results show that it is possible to climb without slippage and at a high speed by maintaining contact along the wall. These results show that a tracked vehicle can access areas that could not be reached earlier through contact with the environment. Furthermore, it is considered that the climbing motion using contact with the environment can be applied to an autonomous mobile robot for automating inspection because complicated control is not required.

本文言語English
ホスト出版物のタイトルSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
出版社Institute of Electrical and Electronics Engineers Inc.
ページ456-462
ページ数7
ISBN(電子版)9781538622636
DOI
出版ステータスPublished - 2018 2 1
イベント2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China
継続期間: 2017 12 112017 12 14

出版物シリーズ

名前SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
2018-January

Other

Other2017 IEEE/SICE International Symposium on System Integration, SII 2017
国/地域Taiwan, Province of China
CityTaipei
Period17/12/1117/12/14

ASJC Scopus subject areas

  • モデリングとシミュレーション
  • 器械工学
  • 人工知能
  • コンピュータ サイエンスの応用
  • 工学(その他)
  • 材料科学(その他)
  • 制御と最適化

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