Erect wheel-legged stair climbing robot for indoor service applications

IROS 2013
Pages: 2731 - 2736
Published: Nov 1, 2013
Abstract
In this paper, an automatic erect stair climbing mobile robot is developed for indoor service applications. The design of high center of mass, tilt axis near ground, and the triangular wheel-legged structure enable the robot to climb stairs in a dynamic and self-balancing way. The wheel-legged mechanism also keeps the advantages of differential-wheeled mobile platforms when moving on flat ground, such as easy to control, saving power, and zero...
Paper Details
Title
Erect wheel-legged stair climbing robot for indoor service applications
Published Date
Nov 1, 2013
Journal
Pages
2731 - 2736
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