Stair-climbing robot for cleaning treads and risers
This study have been working on a small robot that clean stairs while climbing them.
Previous stair-cleaning robots have three problems.
- They have large bodies because they mount separately the stair-climbing mechanism and the stair-cleaning mechanism.
- They can only clean the treads (horizontal surface of the stairs).
- They cannot handle with obstacles on the treads.
To solve these problems, we have developed the single hardware that performs the following four tasks. This hardware have made the stair cleaning robot smaller and more multifunctional.
- Climbing stairs
- Cleaning treads (horizontal surface of stairs)
- Cleaning risers (vertical surface of the stairs)
- Removing obstacles on the treads
Videos
After Octover 2023
Climbing stairs
Cleaning treads (horizontal plane of staircase)
Cleaning risers (vertical surface of the staircase)
Removing obstacles on the treads
The experiment integrating the above four tasks
Before Octover 2023
Climbing stairs
Cleaning theads
Cleaning risers
Research poster (in Japanese)
Related works (in Japanese)
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保母 諒太朗, 工藤 俊亮, 木村 航平. 小型階段清掃ロボットにおける踏板・蹴込板の全面拭き掃除とマニピュレータによる障害物除去. 第42回日本ロボット学会学術講演会講演論文集, 1D1-06, 2024.
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保母 諒太朗, 工藤 俊亮, 木村 航平. 踏板・蹴込板の清掃を行う階段登攀型小型ロボット. 第24回SICEシステムインテグレーション部門講演会講演概要集. 2023. 3G5-02
