A Wheel based Stair Climbing Robot with Hopping Mechanism: Hardware History


Kadokura (left, 2002), Bushida (middle, 2004), and Sudo (right, 2005) models


Sakaguchi (left, 2006), Chiba (middle, 2007), and Hirano-Kobarashi (right, 2009) models


Chishima-Jinno (left, 2014) model