{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,8,7]],"date-time":"2024-08-07T01:12:22Z","timestamp":1722993142091},"reference-count":16,"publisher":"Fuji Technology Press Ltd.","issue":"2","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robot. Mechatron.","JRM"],"published-print":{"date-parts":[[2008,4,20]]},"abstract":"We propose a simple hopping mechanism using vibration of a two-degrees-of-freedom (2-DOF) system for a fast stair-climbing robot. The robot, consisting of two bodies connected by springs and a wire, hops by releasing energy stored in springs and travels quickly using wheels mounted on its lower body. The trajectories of bodies during hopping change based on mechanical design parameters such as reduced mass of the two bodies, the mass ratio between the upper and lower bodies, and spring constant, and control parameters such as initial contraction of the spring and wire tension. This property allows the robot to quickly and economically climb stairs and land softly without complex control. In this paper, we propose a mathematical model of the robot and investigate required tread length for continuous hopping to climb a flight of stairs. Furthermore, we demonstrate fast stair-climbing and soft landing for a flight of stairs in experiments.<\/jats:p>","DOI":"10.20965\/jrm.2008.p0221","type":"journal-article","created":{"date-parts":[[2016,4,14]],"date-time":"2016-04-14T06:18:46Z","timestamp":1460614726000},"page":"221-227","source":"Crossref","is-referenced-by-count":4,"title":["Wheel-Based Stair Climbing Robot with Hopping Mechanism <small> \u2013 Demonstration of Continuous Stair Climbing Using Vibration \u2013<\/small>"],"prefix":"10.20965","volume":"20","author":[{"given":"Yuji","family":"Asai","sequence":"first","affiliation":[]},{"name":"Dept. of Mechanical Science and Engineering, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan","sequence":"first","affiliation":[]},{"given":"Yasuhiro","family":"Chiba","sequence":"additional","affiliation":[]},{"given":"Keisuke","family":"Sakaguchi","sequence":"additional","affiliation":[]},{"given":"Naoki","family":"Bushida","sequence":"additional","affiliation":[]},{"given":"Hiroshi","family":"Ohtsuka","sequence":"additional","affiliation":[]},{"given":"Yusuke","family":"Saito","sequence":"additional","affiliation":[]},{"given":"Koki","family":"Kikuchi","sequence":"additional","affiliation":[]},{"name":"TOYOTA BOSHOKU CORPORATION, 1-1 Toyoda-cho, Kariya-shi, Aichi, Japan","sequence":"additional","affiliation":[]},{"name":"Dept. of Advanced Robotics, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan","sequence":"additional","affiliation":[]}],"member":"8550","published-online":{"date-parts":[[2008,4,20]]},"reference":[{"key":"key-10.20965\/jrm.2008.p0221-1","doi-asserted-by":"crossref","unstructured":"Y. Uchida, K. Furuichi, and S. Hirose, \u201cFundamental Performance of 6 Wheeled Off-Road Vehicle HELIOS-V,\u201d Proc. IEEE Int. Conf. on Robotics and Automation, pp. 2336-2341, 1999.","DOI":"10.1109\/ROBOT.1999.770454"},{"key":"key-10.20965\/jrm.2008.p0221-2","unstructured":"H. W. Stone, \u201cMars Pathfinder Microrover \u2013 a Small, Low-Cost, Low-Power Spacecraft,\u201d Proc. of the 1996 AIAA Forum on Advanced Developments in Space Robotics, Madison, WI, 1996."},{"key":"key-10.20965\/jrm.2008.p0221-3","doi-asserted-by":"crossref","unstructured":"S. Nakajima, E. Nakano, and T. Takahashi, \u201cMotion Control Technique for Practical Use of a Leg-Wheel Robot on Unknown Outdoor Rough Terrains,\u201d Proc. IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.1, pp. 1353-1358, 2004.","DOI":"10.1109\/IROS.2004.1389584"},{"key":"key-10.20965\/jrm.2008.p0221-4","doi-asserted-by":"crossref","unstructured":"S. Hirose, F. E. Fukushima, R. Damoto, and H. Nakamoto, \u201cDesign of Terrain Adaptive Versatile Crawler Vehicle HELIOS-VI,\u201d Proc. of the 2001 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1540-1545, 2001.","DOI":"10.1109\/IROS.2001.977198"},{"key":"key-10.20965\/jrm.2008.p0221-5","doi-asserted-by":"crossref","unstructured":"T. Takubo, T. Arai, K. Inoue, T. Tsurutani, Y. Hayashibara, and E. Koyanagi, \u201cDevelopment of Limb Mechanism Robot ASTERISK,\u201d J. of Robotics and Mechatronics, Vol.18, No.2, pp. 203-214, 2006.","DOI":"10.20965\/jrm.2006.p0203"},{"key":"key-10.20965\/jrm.2008.p0221-6","doi-asserted-by":"crossref","unstructured":"R. Altendorfer, E. Z. Moore, H. Komsuoglu, M. Buehler, H. Brown, D. McMordie, U. Saranli, R. Full, and D. E. Koditschek, \u201cA Biologically Inspired Hexapod Runner,\u201d Autonomous Robots, Vol.11, pp. 207-213, 2001.","DOI":"10.1023\/A:1012426720699"},{"key":"key-10.20965\/jrm.2008.p0221-7","doi-asserted-by":"crossref","unstructured":"M. Mori and S. Hirose, \u201cDevelopment of Active Cord Mechanism ACM-R3 with Agile 3D mobility,\u201d Proc. IEEE\/RSJ Int. Conf. On Intelligent Robot and Systems, pp. 1552-1557, 2001.","DOI":"10.1109\/IROS.2001.977200"},{"key":"key-10.20965\/jrm.2008.p0221-8","unstructured":"M. H. Yim, R. Hinden, C. K. Wang, C. Conley, K. D. Roufas, and C. Eldershaw, \u201cOpen loop climbing with modular robots,\u201d Proc. of Int. Conf. on Robotics and Automation, pp. 903-912, 2006."},{"key":"key-10.20965\/jrm.2008.p0221-9","doi-asserted-by":"crossref","unstructured":"E. Nakano, H. Okubo, and H. Kobayashi, \u201cThe Landing Control of a Jumping Machine,\u201d J. of RSJ, Vol.9, No.2, pp. 169-176, 1991 (in Japanese).","DOI":"10.7210\/jrsj.9.169"},{"key":"key-10.20965\/jrm.2008.p0221-10","doi-asserted-by":"crossref","unstructured":"M. D. Berkemeier and R. S. Fearing, \u201cSiliding and Hopping Gaits for the Underactuated Acrobot,\u201d IEEE Transaction on Robotics and Automation, Vol.14, No.4, pp. 629-634, 1998.","DOI":"10.1109\/70.704235"},{"key":"key-10.20965\/jrm.2008.p0221-11","doi-asserted-by":"crossref","unstructured":"M. Ahmadi, H. Michalska, and M. Buehler, \u201cControl and Stability Analysis of Limit Cycles in a Hopping Robot,\u201d IEEE Trans. On Robotics, Vol.23, No.3, pp. 553-563, 2007.","DOI":"10.1109\/TRO.2007.898956"},{"key":"key-10.20965\/jrm.2008.p0221-12","doi-asserted-by":"crossref","unstructured":"S. Shimoda, T. Kubota, and I. Nakatani, \u201cNew Mobility System Based on Elastic Energy under Microgravity,\u201d Proc. of the 2002 IEEE Int. Conf. on Robotics and Automation, pp. 2296-2301, 2002.","DOI":"10.1109\/ROBOT.2002.1013574"},{"key":"key-10.20965\/jrm.2008.p0221-13","doi-asserted-by":"crossref","unstructured":"Y. Sugiyama, A. Shiotsu, M. Yamanaka, and S. Hirai, \u201cCircular\/Spherical Robots for Crawling and Jumping,\u201d Proc. IEEE Int. Conf. on Robotics and Automation, pp. 3606-3611, 2005.","DOI":"10.1109\/ROBOT.2005.1570667"},{"key":"key-10.20965\/jrm.2008.p0221-14","doi-asserted-by":"crossref","unstructured":"S. A. Stoeter and N. Papanikolopoulos, \u201cKinematic Motion Model for Jumping Scout Robot,\u201d IEEE Transaction on Robotics, Vol.22, No.2, pp. 398-403, 2006.","DOI":"10.1109\/TRO.2006.862483"},{"key":"key-10.20965\/jrm.2008.p0221-15","doi-asserted-by":"crossref","unstructured":"K. Sakaguchi, T. Sudo, N. Bushida, Y. Chiba, Y. Asai, and K. Kikuchi, \u201cWheel-Based Stair-climbing Robot with Hopping Mechanism \u2014 Fast Stair-climbing and Soft-landing by Vibration of 2-DOF system \u2014,\u201d Journal of Robotics and Mechatronics, Vol.19, No.3, pp. 258-263, 2007.","DOI":"10.20965\/jrm.2007.p0258"},{"key":"key-10.20965\/jrm.2008.p0221-16","unstructured":"K. Kikuchi, N. Bushida, T. Sudo, K. Sakaguchi, Y. Chiba, and Y. Asai, \u201cWheel-Based Stair-Climibing Robot with Hopping Mechanism,\u201d 2nd Int. Conf. Mechatronic Systems and Materials: MSM2006, 2006."}],"container-title":["Journal of Robotics and Mechatronics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.fujipress.jp\/main\/wp-content\/themes\/Fujipress\/phyosetsu.php?ppno=ROBOT002000020004","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2017,6,25]],"date-time":"2017-06-25T05:44:34Z","timestamp":1498369474000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.fujipress.jp\/jrm\/rb\/robot002000020221"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2008,4,20]]},"references-count":16,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2008,4,20]]},"published-print":{"date-parts":[[2008,4,20]]}},"URL":"https:\/\/doi.org\/10.20965\/jrm.2008.p0221","relation":{},"ISSN":["1883-8049","0915-3942"],"issn-type":[{"type":"electronic","value":"1883-8049"},{"type":"print","value":"0915-3942"}],"subject":[],"published":{"date-parts":[[2008,4,20]]}}}