Journal
ADVANCED ROBOTICS
Volume 15, Issue 2, Pages 245-253Publisher
VSP BV
DOI: 10.1163/15685530152116254
Keywords
moving robot; inchworm; link mechanism; obstacle; climbing; rescuing
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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.
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