Development of Crawler Stair Climber using Guide Rail | Zendy

Yasuhiro Yamada | Zendy; Yoshinori Segawa | Zendy; Kazuhiro Ookoudo | Zendy; Yoshiaki KOMURA | Zendy; Akira Yamagishi | Zendy; Tadashi Sekido | Zendy; Kenichiro Ikeda | Zendy; Shinichi Mita | Zendy

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Development of Crawler Stair Climber using Guide Rail

Author(s) -

Yasuhiro Yamada,

Yoshinori Segawa,

Kazuhiro Ookoudo,

Yoshiaki KOMURA,

Akira Yamagishi,

Tadashi Sekido,

Kenichiro Ikeda,

Shinichi Mita

Publication year - 2002

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2002.p0531

Subject(s) - stairs , climb , web crawler , stair climbing , climbing , wheelchair , pedestrian , tilt (camera) , engineering , simulation , automotive engineering , computer science , transport engineering , structural engineering , physical medicine and rehabilitation , world wide web , aerospace engineering , medicine

Welfare equipment is being developed for the projected barrier-free society. Stair climbers developed to help wheelchair users climb stairs include multileg, wheeled and crawler types. Stair climbers in practical use, however, may make traveling unstable depending on the stair or be expensive, indicating a need for improvement. This paper proposes a crawler stair climber, named ESCAL-F, that uses a small guide rail with a tooth belt installed at the side edge of stairs and a tooth belt for the crawler in which belts mesh to enable stair climbing. ESCAL-F realizes stable stair climbing with low cost. This paper focuses on design and tilt angle control of ESCAL-F.

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