Towards a Stair Climbing Robot System Based on a Re-configurable Linkage Mechanism

Published on Jun 11, 2018
· DOI :10.1007/978-3-030-01370-7_22
Omar El-Farouk E. Labib1
Estimated H-index: 1
(German University in Cairo),
Sarah W. El-Safty1
Estimated H-index: 1
(German University in Cairo)
+ 2 AuthorsMarcus Strand4
Estimated H-index: 4
(Baden-Württemberg Cooperative State University)
Source
Abstract
This paper contributes to a mechanical/kinematical design of a stair climbing robot. Based on the known Klann-mechanism, an extended re-configurable mechanism is proposed, in order to address the stair climbing problem. Steps offer a great variety of occurrences, since they differ in height, width or step length. Regarding staircases the variety is even higher since they differ in the number of steps per level, the size of the platform, the orientation etc. Due to these variations the concept proposes a re-configurable design, which is tested in simulation and in a real physical setup.
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Dec 17, 2015 in IROS (Intelligent Robots and Systems)
#2Mihir ShahH-Index: 1
Last. Madhava Krishna KH-Index: 1
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Stair Climbing is a key functionality desired for robots deployed in Urban Search and Rescue (USAR) scenarios. A novel compliant modular robot was proposed earlier to climb steep and big obstacles. This work extends the functionality of this robot to ascend and descend stairs of dimensions that are also typical of an urban setting. Stair Climbing is realized by equipping the robot's link joints with optimally designed passive spring pairs that resist clockwise and counter clockwise moments gener...
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Dec 17, 2015 in IROS (Intelligent Robots and Systems)
#1Yi Sun (Rits: Ritsumeikan University)H-Index: 11
#2Yang Yang (Rits: Ritsumeikan University)H-Index: 21
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To gain high mobility on challenging terrains, a mobile robot based on eccentric paddle mechanism (ePaddle) with locomotion versatility has been proposed. In this paper, a paddle-aided stair-climbing motion is presented for this ePaddle-based robot. The robot can roll on the stair as a traditional wheeled vehicle and also can climb up the stair under the help of its paddles. Robot-stair interaction modes are presented and typical feasible postures of the robot in stair-climbing are discussed. Fr...
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Dec 1, 2015 in ICICS (International Conference on Information and Communication Security)
#1Jaichandar Kulandaidaasan Sheba (Singapore Polytechnic)H-Index: 4
#2Edgar A. Martinez-Garcia (Universidad Autónoma de Ciudad Juárez)H-Index: 7
Last. Le Tan-Phuc (Singapore Polytechnic)H-Index: 3
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In this paper design, integration and functional evaluation of reconfigurable Klann based four legged robot platform is reported. Here a four legged platform generating six useful gaits is implemented. The design process, mechanical assembly, electronic control and transformation mechanism for various scenarios is reported. The designed platform is able to control servo motors to generate various gaits of interest in an efficient manner. By adopting Klann mechanism and extending reconfiguration ...
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Jan 1, 2015 in ROBIO (Robotics and Biomimetics)
#1Chih-Hsing Liu (NCKU: National Cheng Kung University)H-Index: 10
#2Nai-Wei Su (NCKU: National Cheng Kung University)H-Index: 1
Last. Tzu-Yang Pai (NCKU: National Cheng Kung University)H-Index: 4
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This paper aims to develop a multi-legged stair climbing robot with the capability to steadily climb stairs with consistent human foot trajectory. The leg design is based on the eight-bar Jansen mechanism but a new set of leg configuration is numerically identified based on the optimal design method with the aim to mimic the human foot trajectory when climbing stairs. The kinematic analysis of the leg mechanism based on loop closure equation has been derived in order to identify the leg trajecto...
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Dec 1, 2014 in ICARCV (International Conference on Control, Automation, Robotics and Vision)
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This paper presented a controller for autonomous stair identification, climbing, descending for a tracked robot. The controller relies on stair features extracted from the perception system and a smooth feedback steering control based on fuzzy logic. Experimental results indicate that the proposed method offers robust performance without the need for an accurate attitude estimator nor a detailed model of the robot's physical and dynamics properties. Experimental results have verified that the co...
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Dec 1, 2014 in ICARCV (International Conference on Control, Automation, Robotics and Vision)
#1Jaichandar Kulandaidaasan Sheba (Singapore Polytechnic)H-Index: 4
#2Edgar A. Martinez-Garcia (Universidad Autónoma de Ciudad Juárez)H-Index: 7
Last. Le Tan-Phuc (Singapore Polytechnic)H-Index: 3
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One of the key benefits of reconfigurable legged robots is their ability to move in a non-continuous way enabling it to provide better mobility over rough and irregular terrains. Legged robots should maintain it stability during rest and motion with minimum number of legs while maintaining its functionality during various gait generation and its resultant application. In this paper we have presented a stability analysis for reconfigurable Klann mechanism based quadruped by changing leg arrangeme...
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Nov 1, 2013 in IROS (Intelligent Robots and Systems)
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#2Nicolas Rojas (SUTD: Singapore University of Technology and Design)H-Index: 13
Last. Ricardo Sosa (SUTD: Singapore University of Technology and Design)H-Index: 13
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Legged robots are able to move across irregular terrains and some can be energy efficient, but are often constrained by a limited range of gaits which can limit their locomotion capabilities considerably. This paper reports a reconfigurable design approach to robotic legged locomotion that produces a wide variety of gait cycles, opening new possibilities for innovative applications. In this paper, we present a distance-based formulation and its application to solve the position analysis problem ...
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May 6, 2013 in ICRA (International Conference on Robotics and Automation)
#1Hyun-Su Hong (SNU: Seoul National University)H-Index: 2
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This paper presents a locomotive strategy for a stair-climbing mobile platform built on a rocker-bogie platform, which can surmount indoor stairs or steps by virtue of a new contact angle estimation method. First, link parameters of the rocker-bogie mechanism are optimized through the Taguchi method, with the aim of making the trajectory of the center of mass (CM) of the mobile platform as smooth as possible. Based on the optimization result, the mobile platform is compactly designed to suit ind...
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May 6, 2013 in ICRA (International Conference on Robotics and Automation)
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Improved robot mobility is necessary in order to realize the expected uses of robots in the human life environment, which includes obstacles such as stairs and narrow passages. Because objects which humans require are often located on desks or tables, which are at some height above ground level, a long vertical dimension is also necessary in the robot design. To meet these requirements, this study focused on a type of mobile robot using an inverted pendulum, which enables a robot with a long ver...
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#1Qun Zhang (NUS: National University of Singapore)H-Index: 2
#2Shuzhi Sam Ge (NUS: National University of Singapore)H-Index: 110
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In this paper, we consider the problem of overcoming a flight of stairs in an uncertain environment with an autonomous tracked robot. A complete autonomous stair climbing module is developed which handles a number of tasks involved in stair climbing and a divide and conquer approach is adopted where the stair climbing challenge is further divided into several individual tasks such as stairs detection in an uncertain environment, intelligent climbing control to overcome the stairs, detection of t...
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#1Edgar A. Martinez-Garcia (Universidad Autónoma de Ciudad Juárez)H-Index: 7
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