Design and Implementation of Involute-Curve-Shaped-Mechanism for Stair Climbing

For stair climbing by a mobile robot, we discussed a 1-DOF mechanism that allows a rotating axis to be lifted with less torque. A prototype robot equipped involute-curve-shaped mechanism which is obtained from that discussion was developed and a control method for stair climbing was proposed. Furthermore, it was confirmed by experiments that the robot autonomously climbs stairs.