Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Kinematic Optimal Design on a New Robotic Platform for Stair Climbing

계단 등반을 위한 신개념 로봇 플랫폼의 기구변수 최적화

  • Seo, Byunghun (School of Mechanical Engineering, Yeungnam Univ.) ;
  • Hong, Sung Yull (School of Mechanical Engineering, Yeungnam Univ.) ;
  • Lee, Jeh Won (School of Mechanical Engineering, Yeungnam Univ.) ;
  • Seo, TaeWon (School of Mechanical Engineering, Yeungnam Univ.)
  • Received : 2012.08.23
  • Accepted : 2013.01.21
  • Published : 2013.04.01
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Abstract

Stair climbing is one of critical issues for field robots to widen applicable areas. This paper presents optimal design on kinematic parameters of a new robotic platform for stair climbing. The robotic platform climbs various stairs by body-flip locomotion with caterpillar type main platform. Kinematic parameters such as platform length, platform height, and caterpillar rotation speed are optimized to maximize stair-climbing stability. Three types of stairs are used to simulate typical user conditions. The optimal design process is conducted based on Taguchi methodology, and resulting parameters with optimized objective function are presented. In near future, a prototype is assembled for real environment testing.

Keywords

References

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Cited by

  1. FlipBot: A new field robotic platform for fast stair climbing vol.14, pp.11, 2013, https://doi.org/10.1007/s12541-013-0259-8