Publications / 2006 Proceedings of the 23rd ISARC, Tokyo, Japan

The Application Research of Mobile Robots with Forklift-Driving-Wheels Capable to Ascend and Descend Stairs

Hirofumi Niimi, Noriyoshi Douhara
Pages 206-209 (2006 Proceedings of the 23rd ISARC, Tokyo, Japan, ISBN 9784990271718, ISSN 2413-5844)
Abstract:

To ascend and descend stairs, we have developed the robot assembling fork lifts on the front and the rear. Those fork lifts have driving wheels. The FDW robot(mobile robot with Forklift-Driving-Wheels capable to ascend and descend stairs)is divided into three parts (Body, Front Forklift-Wheels, Rear Forklift-Wheels). The robot can move up and down by the front and rear fork lifts, and also it can be transferred by using these through the stairs and the step. If a condition is satisfied, the robot can get up from the turnover condition by using the fork lifts. The size of a robot being able to go up the stairs of 1-step height 200mm width 300mm becomes about 300×300×300 mm.When a fork lift is set at 2-step-type, the miniature robot of the height 150mm can be made. If the entire length of the robot is more than 300mm, the robot can go up the stairs by assembling the Sub-Rear Fork-lift Wheels. The application such as the wheelchair which can go up the stairs is expected. The position of the chair is lowered in the form that a human being turns a back to the stairs as much as possible to go up the stairs safely. A FDW robot can be applied to a cleaning robot, a guidance robot, a robot for the education and a robot for the baggage conveyance, a wheelchair to go up the stairs, and so on.

Keywords: Mobile Robot, Forklift-Wheel, Stairs, Wheelchair