Stair Climbing using a compliant modular robot

Turlapati, Sri Harsha; Shah, Mihir; Teja, S. Phani; Siravuru, Avinash; Shah, Suril V.; K, Madhava Krishna

doi:10.1109/iros.2015.7353841

Cited by 16 publications

(14 citation statements)

References 16 publications

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“…The previous design of our stair climbing compliant modular robot [2] with wheels of diameter lesser than the stair riser height got jammed under the overhangs. As can be seen in Figure 3 (a), the first module gets jammed under the overhang as the external contact force R obtained from the ground on the wheel fails to provide a counter-clockwise moment about the axis of rotation of the module i.e.…”

Section: Concept Designmentioning

confidence: 99%

“…The stiffness values for the springs at the joints, for all possible combinations of the control factors were calculated using the method used in [2] and a mean value for all was considered for our analysis. Following are the values considered for the clearance and the spring stiffness at the joints:…”

Section: Control Factorsmentioning

confidence: 99%

“…Our previous works [1], [2], the Rocker-Bogie [3], Shrimp [4] and Octopus [5] are examples of Class I robots while robots like Asguard [6], Genbu [7] , Rhex [8], Impass [9], Loper [10] are Class II robots. Class I robots have the advantage of low power consumption over Class II robots, but one drawback with Class I robots is that these mechanisms can get jammed under a step overhang (explicated in Sec.…”

Section: Introductionmentioning

confidence: 99%

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Design of a robust stair-climbing compliant modular robot to tackle overhang on stairs

et al. 2018

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This paper discusses the concept and parameter design of a Robust Stair Climbing Compliant Modular Robot, capable of tackling stairs with overhangs. Modifying the geometry of the periphery of the wheels of our robot helps in tackling overhangs. Along with establishing a concept design, robust design parameters are set to minimize performance variation. The Grey-based Taguchi Method is adopted for providing an optimal setting for the design parameters of the robot. The robot prototype is shown to have successfully scaled stairs of varying dimensions, with overhang, thus corroborating the analysis performed.

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Section: Concept Designmentioning

confidence: 99%

Section: Control Factorsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Design of a robust stair-climbing compliant modular robot to tackle overhang on stairs

et al. 2018

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“…For tracked robots, the control is simple, but the edges of the stairs suffer from large stress [23] and might be damaged. Furthermore, the tracked robot's running speed on the ground is not high as that of the wheeled robot [24]. As for the hybrid robots, the wheel-legged robot is preferred.…”

Section: Introductionmentioning

confidence: 99%

A Robot with Decoupled Mechanical Structure and Adapted State Machine Control for Both Ground and Staircase Situations

Wen

Yang

et al. 2019

Applied Sciences

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The rapid development of e-commerce makes the last-mile problem more and more prominent. To meet the requirements of such a scenario, this paper proposes a robot with a decoupled mechanical structure. Such a hexapod robot is divided into a chassis frame with a pair of auxiliary wheel-legs for horizontal movement, a tetrapod for vertical movement, and a slide-and-rail mechanism to connect the former two parts. Such a structure is simple and, thus, cost-efficient; by managing the horizontal and vertical movements, such a robot can keep the balance and safety of the load in the various operation environments, such as roads, staircases, and even indoor ones. Meanwhile, a state-machine-based controller, which adapts well to the unique structure of the proposed robot, is also proposed, simplifying the sequential control of the robot. A prototype robot with 30-kg load ability was built, and the experimental results prove the validity of the design.

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“…One important characteristic of living organisms, which is starting to be explored in undulatory robotics, is passive or active compliance of their bodies, which may assist their effortless adaptability to irregular features of the terrain [19]- [26]. Along this axis, this paper focuses on the role of passive in-series compliance [19]- [21] on the propulsion characteristics of pedundulatory robotic systems over granular substrates, an issue studied both computationally and experimentally. In particular, we compare the use of rigid and compliant joints in a compliant-body robot (Fig.…”

Section: Introductionmentioning

confidence: 99%

Effects of compliance in pedundulatory locomotion over granular substrates

Sfakiotakis

Chatzidaki

Evdaimon

et al. 2016

2016 24th Mediterranean Conference on Control and Automation (MED)

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The present paper investigates the effect of compliance on the locomotion of a biologically-inspired soft-body pedundulatory robotic system, employing lateral undulations of its elongated body, which are augmented by the oscillation of sets of lateral appendages (parapodia), to propel itself on unstructured granular substrates. We explore control strategy alternatives for the robot to generate two different locomotor gaits by employing direct or retrograde lateral body waves, combined with appropriately coordinated parapodial motion (pedundulatory modes). Computational models of this class of robots have been devised, which demonstrate the effects of joint compliance on gait generation and on the characteristics of robot propulsion. A new three-segment soft-body robotic prototype has been developed, whose body was fabricated by molding polyurethane elastomers, and was tested extensively on an experimental sandbox, on various formations of the granular substrate, to compare the performance of stiff and compliant joints. Body and joint compliance were found to enhance the adaptability of the robot to environmental irregularities, however they may deteriorate the proper formation of the un-dulatory body wave, degrading somewhat system performance in terms of the attained velocities

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Stair Climbing using a compliant modular robot

Cited by 16 publications

References 16 publications

Design of a robust stair-climbing compliant modular robot to tackle overhang on stairs

Design of a robust stair-climbing compliant modular robot to tackle overhang on stairs

A Robot with Decoupled Mechanical Structure and Adapted State Machine Control for Both Ground and Staircase Situations

Effects of compliance in pedundulatory locomotion over granular substrates

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