ABSTRACT In this paper, we propose the design of a single-wheeled robot capable of climbing stairs. The robot is equipped with the proposed climbing mechanism, which enables it to climb stairs. The mechanism has an extremely simple structure, comprised of a parallel arm, belt, harmonic drive, and pulley. The proposed climbing mechanism has the advantage of not requiring an additional actuator because it can be driven by using a single actuator that drives the wheel. The robot is equipped with a control moment gyroscope to control the stability in a lateral direction. Experimental results demonstrate that the robot can climb stairs with a riser height of 12–13 cm and a tread depth of 39 cm at an approximate rate of 2 to 3 s for each step. GRAPHICAL ABSTRACT

中文翻译：

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可爬楼梯的单轮倒立摆机器人的研制

摘要在本文中，我们提出了一种能够爬楼梯的单轮机器人的设计。该机器人配备了建议的攀爬机构，使其能够爬楼梯。该机构结构极其简单，由平行臂、皮带、谐波传动和皮带轮组成。所提出的爬升机构的优点是不需要额外的致动器，因为它可以通过使用驱动车轮的单个致动器来驱动。机器人配备控制力矩陀螺仪，控制横向稳定性。实验结果表明，机器人可以以每一步大约 2 到 3 秒的速度爬楼梯，楼梯高度为 12-13 厘米，踏板深度为 39 厘米。图形概要