Erect wheel-legged stair climbing robot for indoor service applications

Luo, Ren C.; Hsiao, Ming; Lin, Tsung-Wei

doi:10.1109/iros.2013.6696742

Cited by 21 publications

(10 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The first group of prior work focuses on the stair ascent behavior over a single flight of stairs. [13][14][15][16][17][18][19][20][21][22][23] Many are limited to a very few steps, 15, 17-20, 22, 23 or a very specific stair or landing geometry. 14,16,17,22,23 In addition, most lack comprehensive experimentation to report on reliability.…”

Section: Contributions and Related Workmentioning

confidence: 99%

Autonomous Stairwell Ascent

Ilhan¹,

Johnson²,

Koditschek³

2019

Robotica

View full text Add to dashboard Cite

SummaryThis paper documents autonomous multi-floor stairwell ascent by a legged robot. This is made possible through empirically deployed sequential composition of several reactive controllers, with perceptually triggered transitions. This composition relies on simplified assumptions regarding the robot’s sensory capabilities, its level of mobility, and the environment it operates in. The discrepancies between these assumptions and the physical reality are capably handled by the intrinsic motor competence of the robot. This behavior is implemented on the legged RHex platform and experiments spanning 10 different stairwells with various challenges are conducted.

show abstract

Section: Contributions and Related Workmentioning

confidence: 99%

Autonomous Stairwell Ascent

Ilhan¹,

Johnson²,

Koditschek³

2019

Robotica

View full text Add to dashboard Cite

show abstract

“…In France, a robot with a combination of legs and wheels for rugged driving has been proposed. After developing a velocity model by analyzing the kinematics of the robot, researches have been carried out to improve the driving stability of the vehicle [3][4][5][6][7]. Nagano and Fujimoto of Yokohama University in Japan proposed an acceleration-based kinematic model for the movement and control of mobile robot combined with bridge and wheel, and developed an algorithm to generate robot control path of Least squares method of solving Singular configuration problem [9].…”

Section: Fig 1 International Disaster Trends (1964~2016)mentioning

confidence: 99%

A Study on the Modeling of Independently Driven Quadruped Crawler System for Posture Control of Special Purpose Machine for Disaster Response

Lee¹,

Ha²,

Kim³

et al. 2017

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

View full text Add to dashboard Cite

The crawler-leg mobile system is a sub-mechanism of special purpose machines for the early stage rescue and reconstruction in disaster. This system plays a role in controlling the posture to prevent rollover when the special purpose machine is running on rough terrain. In this paper, a mechanism is introduced for posture control of a crawler-leg mobile system and coordinates for mathematical model is define. Using defined coordinates, a mathematical model based on differential kinematics is proposed for posture control system. The validity of the mathematical model is verified by comparing the results of the proposed mathematical model and the multi body dynamics simulation model. And a mathematical model is proposed for posture control of the crawler-leg mobile system.

show abstract

“…In order to perform exploration missions in complex environments, it is very important to design the structure of the mobile system. By now, there are many types of mobile structures such as leg [4], wheel [5], track [6,7], and some composite structures [8,9]. To accomplish exploration tasks efficiently, some typical mobile systems have been studied in this paper with consideration of characteristics of exploration environments.…”

Section: Structure Designmentioning

confidence: 99%

Design on a Composite Mobile System for Exploration Robot

Shang

Yang

Liu

et al. 2016

Shock and Vibration

View full text Add to dashboard Cite

In order to accomplish exploration missions in complex environments, a new type of robot has been designed. By analyzing the characteristics of typical moving systems, a new mobile system which is named wheel-tracked moving system (WTMS) has been presented. Then by virtual prototype simulation, the new system’s ability to adapt complex environments has been verified. As the curve of centroid acceleration changes in large amplitude in this simulation, ride performance of this robot has been studied. Firstly, a simplified dynamic model has been established, and then by affecting factors analysis on ride performance, an optimization model for suspension parameters has been presented. Using NSGA-II method, a set of nondominated solutions for suspension parameters has been gotten, and by weighing the importance of the objective function, an optimal solution has been selected to be applied on suspension design. As the wheel-tracked exploration robot has been designed and manufactured, the property test has been conducted. By testing on physical prototype, the robot’s ability to surmount complex terrain has been verified. Design of the wheel-tracked robot will provide a stable platform for field exploration tasks, and in addition, the certain configuration and suspension parameters optimization method will provide reference to other robot designs.

show abstract

Erect wheel-legged stair climbing robot for indoor service applications

Cited by 21 publications

References 9 publications

Autonomous Stairwell Ascent

Autonomous Stairwell Ascent

A Study on the Modeling of Independently Driven Quadruped Crawler System for Posture Control of Special Purpose Machine for Disaster Response

Design on a Composite Mobile System for Exploration Robot

Contact Info

Product

Resources

About