On the kinematic functionality of a four-bar based mechanism for guiding wheels in climbing steps and obstacles

Classification of manipulators of the same origin by virtue of compactness and complexity

“…Kim and Cho [14] also claim the compactness of their micro stage for vibration control. Another similar claim is found in [15], where Gonzales et al mention the compactness of the mechanism assisting climbing of obstacles, without any firm reference to the description of compactness or complexity as a formulated entity. There are some indices used in mechanism synthesis which may or may not sound abstract such as sensitivity as in [16] formulated for planar parallel mechanisms.…”

Collision avoidance between a wheelchair front wheels and a step wall during step climbing using a care robot

“…Some reasons for the wheelchair's difficulty include driving wheel slippage and/or vehicle imbalance. Numerous research programs aimed at improving wheelchair mobility on steps have been conducted, and the following potential solutions have been investigated: additional legs [2], multiple wheels and variable wheelbases [3], a combination of an adjustable center of gravity (COG) and multiple wheels [4], tracked vehicles [5], an additional driving wheel system [6], and changing the wheelchair posture to facilitate climbing [7]. In addition, Yoshikazu Mori studied a new step climbing and descending strategy using a manual wheelchair equipped with linear actuator mechanisms and a light portable ramp [8].…”

THROO: a Tracked Hybrid Rover to Overpass Obstacles

“…This basic idea is used, for example, in [7][8][9] in which wheels are passive. Innovative prototypes of wheelchairs capable of climbing stairs have been proposed in [10,11]. A prototype of stair-climbing robot was proposed in [12].…”