Contact angle estimation and composite locomotive strategy of a stair-climbing mobile platform

Hong, Hye Jin; Kim, Dongmok; Kim, Hwa Soo; Lee, Seok‐Woo; Kim, Jong-Won

doi:10.1016/j.rcim.2013.03.001

Cited by 17 publications

(5 citation statements)

References 17 publications

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“…Because the path f i (with i = 1, 2, 3) generated in Section 3.2 satisfies the condition of C2 continuity, the curvature c y/x obtained from f i is continuous, and consequently, the continuity of the acceleration a c y is guaranteed by Eqs. (5) and (6). Therefore, with the constant step along the X-axis for the time interval t, the center trajectory can be built to ensure the continuity of acceleration along both the X-and Y-axes.…”

Section: Trajectory Planningmentioning

confidence: 99%

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Optimal Trajectory Planning for 2-DOF Adaptive Transformable Wheel

Kim

et al. 2020

IEEE Access

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Steps are frequently encountered while mobile robots move in indoor environments; thus, the ability to overcome a step is essential to indoor mobile robots. In this study, a new adaptive transformable wheel is conceptually proposed to effectively overcome steps of different sizes. The center trajectory of the proposed wheel is optimally designed to minimize its fluctuations while the robot overcomes a step. For this purpose, a kinematic analysis of the proposed wheel is performed to identify the points that its center must pass while the robot overcomes a step. The center trajectory is optimized with an objective function to evaluate the mobile stability of the proposed wheel under kinematic constraints to avoid undesired interferences between the wheel and the step. Extensive simulations with different steps verify that the optimal trajectory ensures stable and effective overcoming of steps. The experiment using the prototype of mobile robot equipped with the proposed wheel verifies the smoothness of resulting trajectory of wheel center. INDEX TERMS Mobile robot, step, transformable wheel, trajectory planning. I. INTRODUCTION

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Section: Trajectory Planningmentioning

confidence: 99%

“…For the wheel to overcome a step passively, the diameter of the wheel must be two times larger than the height of the step [8]. Furthermore, because wheeled mobile robots may suffer from unexpected fluctuations and impacts while overcoming steps or stairs, for safe operation, their speed becomes significantly lower than that on flat ground [2], [5].…”

mentioning

confidence: 99%

Optimal Trajectory Planning for 2-DOF Adaptive Transformable Wheel

Kim

et al. 2020

IEEE Access

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“…The linearity characteristics of the selected design variables are analyzed by simulation. Three different mechanisms are selected, i.e., Rocker-bogie [19], [20], Rocker-Pillar [21] and RHyMo [7], which are specifically designed for stairclimbing. Figure 5 shows the results of the simulation.…”

Section: Kinematic Analysismentioning

confidence: 99%

Curved-Spoke Tri-Wheel Mechanism for Fast Stair-Climbing

Kim

et al. 2019

IEEE Access

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Stairs are common obstacles in indoor environments and are difficult to overcome for robots. The speed of robot stair-climbing should be similar to that of humans for commercial products, but their speed remains limited. Additionally, the variety of dimensions of stairs is also a significant problem for robust stair-climbing by robots. In this paper, a curved spoke-based tri-wheel mechanism is proposed for fast and robust stair-climbing. The goal speed of stair-climbing is similar to the human speed for variously sized stairs. The proposed wheel system is composed of a tri-wheel mechanism with a curved spoke, wherein the dimensions of the mechanism are determined based on a kinematic analysis. Between the tri-wheels, a stopper mechanism acts to make the initial condition of the sequential stair-climbing the same as the initial starting condition. Static analysis to analyze the minimum friction coefficient is performed to verify the performance of the robot. Experiments based on the prototype are performed to verify the stair-climbing speed for variously sized stairs; the results indicate that fast and robust stair climbing performance is achieved. These findings can be used to design an indoor service robot for various applications.

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“…There are certain limitations with a wheeled robot that they can pass obstacles only half of the wheel diameter. It is found that tracked locomotion may give better results but maneuverability is very less [4,5]. In order to improve the locomotion capabilities of the wheeled robots to climb obstacles, a novel design is developed.…”

Section: Introductionmentioning

confidence: 99%

Design and development of mobile stair climbing robot

Patel¹,

Dave²,

Shah³

et al. 2022

Robotics, Automation and Non-Destructive Evaluation

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High mobility and maneuverability are the most desirable features for a rough terrain locomotion system. In the recent scenario, energy conservation need to be considered while selecting a desired mobility of the system. Wheeled robots can give desired mobility with fewer energy requirements than legged robots. Limitation of wheeled mobile robots is to pass obstacles height more than half of the wheel diameter. This paper presents a novel design that can pass obstacles of the same height as its own wheel and imparts viable solution to the current limitations. A robot is designed and Analyzed with basic mathematical considerations. The results of analytical solutions are compared with the actual prototype model. The control of the robot from the far location is required. The presented autonomous stair climber robot is controlled by a Raspberry pi controller to trigger the circuits of the robot. This robust design increases the mobility of the wheeled robot and reduces energy requirement along with smooth stair climbing motion. This work can also be extended to ha {}ve locomotion on uneven terrain.

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Contact angle estimation and composite locomotive strategy of a stair-climbing mobile platform

Cited by 17 publications

References 17 publications

Optimal Trajectory Planning for 2-DOF Adaptive Transformable Wheel

Optimal Trajectory Planning for 2-DOF Adaptive Transformable Wheel

Curved-Spoke Tri-Wheel Mechanism for Fast Stair-Climbing

Design and development of mobile stair climbing robot

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