• Title/Summary/Keyword: Stair Climbing Robot

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Design of Autonomous Stair Robot System (자율주행 형 계단 승하강용 로봇 시스템 설계)

  • 홍영호;김동환;임충혁
    • Journal of Institute of Control, Robotics and Systems
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    • v.9 no.1
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    • pp.73-81
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    • 2003
  • An autonomous stair robot recognizing the stair, and climbing up and down the stair by utilizing a robot vision, photo sensors, and appropriate climbing algorithm is introduced. Four arms associated with four wheels make the robot climb up and down more safely and faster than a simple track typed robot. The robot can adjust wheel base according to the stair width, hence it can adopt to a variable width stair with different algorithms in climbing up and down. The command and image data acquired from the robot are transferred to the main computer through RF wireless modules, and the data are delivered to a remote computer via a network communication through a proper data compression, thus, the real time image monitoring is implemented effectively.

Design and Control of a Wearable Robot for Stair-Climbing Assistance (계단 보행 근력 보조를 위한 착용형 로봇의 설계 및 제어)

  • Kim, Myeong-Ju;Kang, Byeong-Hyeon;Kim, Ok-Sik;Seo, Ki-Won;Kim, Jung-Yup
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.26 no.1
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    • pp.89-99
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    • 2017
  • This paper describes the development of a thigh wearable robot for power assistance during stair climbing. In the wearable robot developed in this study, high-power BLDC motors and high-capacity harmonic reduction gears are used to effectively assist the thigh muscle during stair climbing. In particular, normal ground and stair are distinguished accurately by using wireless smart shoes, and the stair climbing assistance is performed by activating the actuators at an appropriate time. Impedance of the hip joint was effectively reduced by performing friction compensation of the gears, and a wearing adjustment mechanism was designed to fit the robot to the thigh by conveniently modifying the width and tilting angle of the robot using set collars. Consequently, the performance of the developed thigh wearable robot was verified through stair climbing experiments with EMG measurement.

Inverse Dynamic Modeling of a Stair-Climbing Robotic Platform with Flip Locomotion (회전과 뒤집기 방식의 계단등반 로봇의 역동역학 모델링)

  • Choi, Jae Neung;Jeong, Kyungmin;Seo, TaeWon
    • Journal of Institute of Control, Robotics and Systems
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    • v.21 no.7
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    • pp.654-661
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    • 2015
  • Stairs are the most popular obstacles in buildings and factories. To enlarge the application areas of a field robotic platform, stair-climbing is very important mission. One important reason why a stair-climbing is difficult is that stairs are various in sizes. To achieve autonomous climbing of various-sized stairs, dynamic modeling is essential. In this research, an inverse dynamic modeling is performed to enable an autonomous stair climbing. Stair-climbing robotic platform with flip locomotion, named FilpBot, is analyzed. The FlipBot platform has advantages of robust stair-climbing of various sizes with constant speed, but the autonomous operation is not yet capable. Based on external constraints and the postures of the robot, inverse dynamic models are derived. The models are switched by the constraints and postures to analyze the continuous motion during stair-climbing. The constraints are changed according to the stair size, therefore the analysis results are different each other. The results of the inverse dynamic modeling are going to be used in motor design and autonomous control of the robotic platform.

Kinematic Optimal Design on a New Robotic Platform for Stair Climbing (계단 등반을 위한 신개념 로봇 플랫폼의 기구변수 최적화)

  • Seo, Byunghun;Hong, Sung Yull;Lee, Jeh Won;Seo, TaeWon
    • Journal of the Korean Society for Precision Engineering
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    • v.30 no.4
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    • pp.427-433
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    • 2013
  • 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.

Automatic Stair Climbing System of Wheelchair Using Articulated Crawler Type Mobile Robot (관절형 크로라 이동 로봇을 이용한 휠체어의 자동 계단 승월 시스템)

  • 신재호;한영환
    • Journal of Biomedical Engineering Research
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    • v.17 no.1
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    • pp.1-10
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    • 1996
  • In this paper, describe the automatic climbing wheelchair system use an articulated crawler mobile robot. This wheelchair system(call system) is composed of sensor detecting part and wireless communication part with PC. The sensor parts are consisted of sloping sensor and ultrasonic sensor part. The sloping sensor measures the sloping angle of system, and the ultrasonic sensor measures the distance of system's front wheel center from stair. PC will generate the operation data to climb up the stair using the measured data and make primitives for the system. At firsts This system transfer from sensor data to the PC. PC calculate the operation data to climb up the stair from the internal algorithm. We simulated the system in various stair angle slope($25^{\circ}$, $30^{\circ}$, $45^{\circ}$), and tested it on the real staircase with width 37cm, highlt 18cm, Angle $26^{\circ}$ . There were $0.350^{\circ}$ - $1.060^{\circ}$ Angle errors while climbing because adapted sensor has a precision $0.35^{\circ}$ in resolution. Finally, We implemented the sensor detecting part and the wireless communication park and practiced our system in 4cm/sec speed.

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An Efficient Stair Locomotion Method of Quadruped Robot with Mechanism of Insectile Leg (곤충형 다리 구조를 갖는 4족 로봇의 효율적인 계단 보행 방법)

  • Byun, Jae-Oh;Choi, Yoon-Ho
    • The Journal of the Korea institute of electronic communication sciences
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    • v.10 no.3
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    • pp.395-402
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    • 2015
  • In this paper, we propose an efficient gait trajectory generation method for the static stair climbing of a quadruped robot with mechanism of insectile legs, which has no collision with staris. First, we derive the kinematic and inverse models of a quadruped robot using the algebraic and geometrical methods, respectively. In the proposed method, we generate the stair locomotion trajectory of a sine wave after lifting a leg from the start position, and then determine the coefficient of the generated trajectory to avoid the collision with stairs. In addition, we make the gait sequence for the stable stair locomotion. Finally, we verify the effectiveness and applicability of the proposed stair locomotion method through computer simulations.

A Study on Autonomous Stair-climbing System Using Landing Gear for Stair-climbing Robot (계단 승강 로봇의 계단 승강 시 랜딩기어를 활용한 자율 승강 기법에 관한 연구)

  • Hwang, Hyun-Chang;Lee, Won-Young;Ha, Jong-Hee;Lee, Eung-Hyuck
    • Journal of IKEEE
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    • v.25 no.2
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    • pp.362-370
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    • 2021
  • In this paper, we propose the Autonomous Stair-climbing system based on data from ToF sensors and IMU in developing stair-climbing robots to passive wheelchair users. Autonomous stair-climbing system are controlled by separating the timing of landing gear operation by location and utilizing state machines. To prove the theory, we construct and experiment with standard model stairs. Through an experiment to get the Attack angle, the average error of operating landing gear was 2.19% and the average error of the Attack angle was 2.78%, and the step division and status transition of the autonomous stair-climbing system were verified. As a result, the performance of the proposed techniques will reduce constraints of transportation handicapped.