제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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The study on a mobile robot for going up and down stairs in nuclear facilities

원전시설용 이동로보트의 계단승하강에 관한 연구

  • 김병수 (한국원자력연구소 핵전자연구실) ;
  • 김창회 (한국원자력연구소 핵전자연구실) ;
  • 황석용 (한국원자력연구소 핵전자연구실) ;
  • 김승호 (한국원자력연구소 핵전자연구실) ;
  • 이종민 (한국원자력연구소 핵전자연구실)
  • Published : 1990.10.01
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Abstract

The mobile robot, named as KAEROT, is designed to go up and down stairs in nuclear facilities. To get a proper stable motion, kinematic modeling and analysis are seriously considered and new climbing algorithm is proposed focused on the stability. A couple of small wheels of one planetary wheel have to contact the surface ol stairs all the time to give the guarantee for stability and safety. To confirm the validity of the proposed algorithm, simulation is carried out. The results make evident of feasibility for the algorithm.

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