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An investigation of climbing up stairs for an inchworm robot

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Abstract:

In this research, an inchworm-type robot is being developed for the purpose of rescue missions. This robot has the ability to traverse obstacles such as stairs with fewer joints than legged robots. A self-standing inchworm robot, which has five links and four joints, is produced for trial purposes. In order for this robot to be able to climb up stairs, the kinematical analysis and the development of the program were investigated. As a result, the effectiveness of this robot is confirmed experimentally.

Keywords: CLIMBING; INCHWORM; LINK MECHANISM; MOVING ROBOT; OBSTACLE; RESCUING

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/15685530152116254

Affiliations: 1: National Defense Academy, 1-10-2- Hashirimizu, Yokosuka, Kanagawa 239-8686, Japan 2: Himeji Institute of Technology, 2167 Shosha, Himeji, Hyogo 671-2201, Japan

Publication date: June 1, 2001

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