Showing papers on "Stair climbing published in 2011"
TL;DR: It is demonstrated that knee OA directly influences specific knee joint kinematics and induces kinematic alterations at the hip and ankle perhaps to compensate for the existing knee joint pathology.
Abstract: Purpose: Knee osteoarthritis (OA) is one of the most prevalent chronic lower extremity diseases, causing profound limitation of movement and ability to perform activities of daily living. The purpose of this study was to compare various hip, knee, and ankle joint kinematic variables between knee OA subjects and matched healthy controls during stair ascent and descent.
Methods: Eighteen subjects with knee OA (age = 60.2 ± 9.9 yr, mass = 90.3 ± 16.7 kg, height = 168.4 ± 9.9 cm) and 18 healthy matched controls (age = 60.3 ± 10.7 yr, mass = 81.1 ± 21.2 kg, height = 168.3 ± 11.9 cm) participated in the study. Subjects performed five ascending and descending trials on a custom-built staircase while their motion was captured three-dimensionally using an eight-camera optical video motion capture system.
Results: Significant group × direction interactions were found for average hip flexion angle at foot strike (P = 0.04), for average ankle adduction angle at foot strike (P = 0.01), and for peak ankle dorsiflexion angle during support (P = 0.05) and swing (P = 0.01). Specifically, knee OA and control subjects demonstrated greater hip flexion angle at foot strike and ankle dorsiflexion angle during swing but showed smaller ankle dorsiflexion angle during support during stair ascent compared with descent. Furthermore, compared with controls, knee OA patients demonstrated greater hip abduction at foot strike (-3.1° ± 3.9°) and smaller peak knee flexion during support (60.4° ± 5.0°) and swing (86.7° ± 5.4°). Time of peak hip abduction (34.2% ± 7.1%), hip flexion (7.0% ± 12.3%), knee flexion (69.8% ± 4.6%), dorsiflexion (51.4% ± 2.9%), and ankle adduction (37.3% ± 20.8%) during support occurred later in the gait cycle for knee OA patients.
Conclusions: These data demonstrate that knee OA directly influences specific knee joint kinematics and induces kinematic alterations at the hip and ankle perhaps to compensate for the existing knee joint pathology
55 citations
TL;DR: In this article, a wheelchair with a four-bar linkage mechanism that connects frame and seat to prevent the wheelchair from overturning and to guarantee a comfortable posture to the passenger during different operations is presented.
54 citations
TL;DR: The current calculations indicate that comparatively simple poster/banner prompts can increase stair climbing in mall settings by 6.0%, which is an extra 5.0% of people in physical activity.
Abstract: Background: Stair climbing is an accessible activity with proven health benefits. This article summarizes the effectiveness of mall-based stair-climbing interventions, while controlling for, and examining, potential moderators of stair/escalator choice. Methods: Six comparable studies were identified, which used poster/ banner prompts to promote stair choice. Original data were combined and analyzed using logistic regression. Pedestrians’ stair/escalator choices (N = 127,221) provided the dichotomous outcome variable. Demographics (eg, gender), condition (baseline vs. intervention), and ‘pedestrian traffic volume’ were entered as potential moderators. To examine durability of effects, the rate of stair climbing in each half of the intervention period was compared. Results: Overall, stair choice was more common in men (odds ratio [OR] = 1.72), under-60s (OR = 1.91), Whites (OR = 1.38), those without accompanying children (OR = 1.53), and periods of high traffic (OR = 1.55). The rate of stair climbing incre...
42 citations
TL;DR: The stand at the health information day was more expensive than the point-of-choice prompts and was inferior in promoting stair climbing, and it is likely that the stand was unable to encourage stair climbing because only 3.2% of targeted employees visited the stand.
Abstract: Purpose. The current study compared two interventions for promotion of stair climbing in the workplace, an information-based intervention at a health information day and an environmental intervention (point-of-choice prompts), for their effectiveness in changing stair climbing and cost per employee. Design. Interrupted time-series design. Setting. Four buildings on a university campus. Subjects. Employees at a university in the United Kingdom. Interventions. Two stair-climbing interventions were compared: (1) a stand providing information on stair climbing at a health information day and (2) point-of-choice prompts (posters). Measures. Observers recorded employees' gender and method of ascent (n = 4279). The cost of the two interventions was calculated. Analysis. Logistic regression. Results. There was no significant difference between baseline (47.9% stair climbing) and the Workplace Wellbeing Day (48.8% stair climbing), whereas the prompts increased stair climbing (52.6% stair climbing). The he...
38 citations
TL;DR: In this article, the authors investigated the impact of elevator availability, pedestrian traffic (number using the elevator and stairs per minute), building occupancy (total individuals in the building) and time of day on stair ascent and descent in a workplace.
37 citations
TL;DR: To compare both the anterior muscle sparing approach and the direct lateral approach to a matched control group by using three‐dimensional motion analysis while performing stair ascent and descent tasks, gait anomalies persist after THA for both approaches.
35 citations
TL;DR: The specificity of the effect confirms the appeal of this lifestyle activity for the overweight, and focuses on how intentions to control weight may be converted into behaviour.
Abstract: Point-of-choice prompts consistently increase stair climbing; a greater increase in overweight than normal weight individuals was reported in a multi-component worksite campaign. The purpose of this study is to investigate effects of a multi-component campaign, on stair climbing, in a public access setting. In an interrupted-time-series-design, baseline observations (2 weeks) preceded a 2-week point-of-choice prompt. An additional message, positioned at the top of the climb for a further 6-week period, summarised the calorific consequences of a single ascent. Inconspicuous observers recorded traveller's methods of ascent, coded by sex and weight status, twice a week between 08:00 and 09:59. At baseline, the overweight chose stairs less than normal weight individuals. The multi-component campaign targeting weight control reversed this bias, increasing stair climbing only in overweight individuals. The specificity of the effect confirms the appeal of this lifestyle activity for the overweight. The discussion focuses on how intentions to control weight may be converted into behaviour.
34 citations
TL;DR: The results suggest that these individuals could recruit a second generation of stair climbers via mimicry and some of the immediate behavioural effects observed in interventions may be a product of mimicry, rather than a direct effect of the messages themselves.
Abstract: Objectives. We investigated whether individuals mimic the stair/escalator choices of preceding pedestrians. Our methodology sought to separate cases where the ‘model’ and ‘follower’ were acquaintances or strangers.
Design. Natural experiment.
Methods. Infrared monitors provided a second-by-second log of when pedestrians ascended adjacent stairs/escalators in a mall. Manual timings established that stair climbers spent ≥ 7 s on ascent, during which time they could act as models to following pedestrians. Thus, individuals who mounted the stairs/escalator ≤ 7 s after the previous stair climber were assigned to a ‘stair model’ condition. A ‘no stair model’ condition comprised individuals with a gap to the previous stair climber of ≥ 60 s. The stair model condition was subdivided, depending if the gap between model and follower was 1–2 s or 3–7 s. It was hypothesized that the former cohort may know the model.
Results. Percentage stair climbing was significantly higher in the ‘stair model’ versus ‘no stair model’ condition (odds ratio [OR]= 2.08). Subgroup analyses showed greater effects in the ‘1–2 s’ cohort (OR = 3.33) than the ‘3–7 s’ cohort (OR = 1.39).
Conclusions. Individuals appear to mimic the stair/escalator choices of fellow pedestrians, with more modest effects between strangers. People exposed to message prompts at stair/escalator sites are known to take the stairs unprompted in subsequent situations. Our results suggest that these individuals could recruit a second generation of stair climbers via mimicry. Additionally, some of the immediate behavioural effects observed in interventions may be a product of mimicry, rather than a direct effect of the messages themselves.
30 citations
TL;DR: The data provide clear evidence that varying the contextual features and demands of a simple task such as stair climbing has a significant impact on older adults' self-reporting of ability related to mobility.
Abstract: Background. Although the importance of the context of task performance in the assessment of mobility in older adults is generally understood, there is little empirical evidence that demonstrates how sensitive older adults are to subtle changes in task demands. Thus, we developed a novel approach to examine this issue. Methods. We collected item response data to 81 animated video clips, where various mobility-related tasks were modified in a systematic fashion to manipulate task difficulty. Results. The participants (N = 234), 166 women and 68 men, had an average age of 81.9 years and a variety of comorbidities. Histograms of item responses revealed dramatic and systematic effects on older adults’ self-reported ability when varying walking speed, use of a handrail during ascent and descent of stairs, walking at different speeds outdoors over uneven terrain, and carrying an object. For example, there was almost a threefold increase in reporting the inability to walk at the fast speed compared with the slow speed for a minute or less, and twice as many participants reported the inability to walk at the fast speed outdoors over uneven terrain compared with indoors. Conclusions. The data provide clear evidence that varying the contextual features and demands of a simple task such as stair climbing has a significant impact on older adults’ self-reporting of ability related to mobility. More work is needed on the psychometric properties of such assessments and to determine if this methodology has conceptual and clinical relevance in studying mobility disability.
24 citations
TL;DR: It has been concluded that VGRF parameters can be used as a reliable measurement tool for the quantification of stair climbing in the elderly and can be further used as reference values in future investigations.
21 citations
09 May 2011
TL;DR: This video submission presents the experimental validation and testing of a leg-wheel hybrid mobile robot Quattroped, implemented with a transformation mechanism that directly changes the morphology of wheels into half-circle legs.
Abstract: This video submission presents the experimental validation and testing of a leg-wheel hybrid mobile robot Quattroped. By combining the smooth and efficient motion of wheels on the flat ground with the great mobility of legs on rough terrains, the design of the robot aims for agile and versatile yet efficient locomotion in both natural and artificial environments. Compared to most hybrid platforms, which have separate mechanisms of wheels and legs, this robot is implemented with a transformation mechanism that directly changes the morphology of wheels (i.e., a full circle) into half-circle legs, each with 2 active degrees-of-freedom (i.e., combining two half circles as a leg ). The experimental testing includes flat terrain driving and turning in the wheeled mode, leg-wheel mode switching, and step crossing, bar crossing, natural rough terrain walking, and stair climbing in the legged mode.
09 May 2011
TL;DR: The algorithm of trajectory planning and four leg coordination for quasi-static stair climbing in a quadruped robot is reported and the first-step and last-step algorithm which deals with the transient between the flat ground and the stair is reported.
Abstract: The algorithm of trajectory planning and four leg coordination for quasi-static stair climbing in a quadruped robot is reported. The development is based on the geometrical interactions between the robot legs and the stair, starting from single-leg analysis, followed by two-leg collaboration, and then four-leg coordination. A brief study on stability of the robot is included. In addition, the first-step and last-step algorithm which deals with the transient between the flat ground and the stair is reported as well. Finally, simulation and experimental validation are performed to evaluate the performance of the algorithm.
19 Dec 2011
TL;DR: 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.
Abstract: 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 the end of the stairs and the subsequent landing procedure to prevent damage to the onboard devices. A fuzzy control is developed and experimental results obtained have clearly illustrated the effectiveness of the proposed approach.
15 Aug 2011
TL;DR: This method analyzes the edges of a stairway based on planar motion tracking and directional filters to detect the localization and recognition of an indoor stairway and finds the ground plane using the behavioral distance measurement.
Abstract: This paper we are proposing to detect the localization and recognition of an indoor stairway. This is a fundamental step in the implementing of autonomous stair climbing navigation, as well as the implementing of passive alarm systems intended for the blind and visually impaired. This method analyzes the edges of a stairway based on planar motion tracking and directional filters. The horizontal edges of the stairs are extracted by using the Gabor Filter. Then, the vanishing point is extracted from the specified set of line segments in the aim of facilitating the reconstruction of the stair treads. After this stage, we extract a hypothetical set of targets by using the correlation method. Finally, we employ the discrimination method to find the ground plane, using the behavioral distance measurement. Consequently, the remaining information is considered as an indoor stairway candidate region. As a result, testing is able to prove its effectiveness.
28 Mar 2011
TL;DR: This paper analyzes the edges of a stairway based on planar motion tracking and directional filters, and proposes the use of the discrimination method to find the ground plane, using the behavioral distance measurement.
Abstract: In this paper we are proposing to detect the localization and recognition of an indoor stairway. This is a fundamental step in the implementing of autonomous stair climbing navigation, as well as the implementing of passive alarm systems intended for the blind and visually impaired. Both of these systems must be able to recognize parameters that can describe stairways in unknown environments. This method analyzes the edges of a stairway based on planar motion tracking and directional filters. We extracted the horizontal edge of the stairs by using the Gabor Filter. From the specified set of horizontal line segments, we extracted a hypothetical set of targets by using the correlation method. Finally, we are proposing the use of the discrimination method to find the ground plane, using the behavioral distance measurement. Consequently, the remaining information is considered as an indoor stairway candidate region. After the stairway candidate region was obtained by applying our approach mentioned in the previous step, we proceeded with the candidate assessment tracking, based on the criterion of the minimum displaced frame difference, ground truth, as well as the rigidity of the stair. As a result, testing was able to prove its effectiveness.
28 Jun 2011
TL;DR: This method analyzes the edges of a stairway based on planar motion tracking and directional filters and extracted the horizontal edge of the stairs by using the Gabor Filter and the discrimination method to find the ground plane, using the behavioral distance measurement.
Abstract: In this paper we are proposing a method for detecting the localization of indoor stairways. This is a fundamental step for the implementation of autonomous stair climbing navigation and passive alarm systems intended for the blind and visually impaired. Both of these kinds of systems must be able to recognize parameters that can describe stairways in unknown environments. This method analyzes the edges of a stairway based on planar motion tracking and directional filters. We extracted the horizontal edge of the stairs by using the Gabor Filter. From the specified set of horizontal line segments, we extracted a hypothetical set of targets by using the correlation method. Finally, we used the discrimination method to find the ground plane, using the behavioral distance measurement. Consequently, the remaining information is considered as an indoor stairway candidate region. As a result, testing was able to prove its effectiveness.
12 Aug 2011
TL;DR: The adaptive control strategy comes closer to the physiological swing phase than the passive mode and seems to be a promising option for the treatment of gait disorders.
Abstract: The main goal of robotic gait rehabilitation is the restoration of independent gait. To achieve this goal different and specific patterns have to be practiced intensively in order to stimulate the learning process of the central nervous system. The gait robot G-EO Systems was designed to allow the repetitive practice of floor walking, stair climbing and stair descending. A novel control strategy allows training in adaptive mode. The force interactions between the foot and the ground were analyzed on 8 healthy volunteers in three different conditions: real floor walking on a treadmill, floor walking on the gait robot in passive mode, floor walking on the gait robot in adaptive mode. The ground reaction forces were measured by a Computer Dyno Graphy (CDG) analysis system. The results show different intensities of the ground reaction force across all of the three conditions. The intensities of force interactions during the adaptive training mode are comparable to the real walking on the treadmill. Slight deviations still occur in regard to the timing pattern of the forces. The adaptive control strategy comes closer to the physiological swing phase than the passive mode and seems to be a promising option for the treatment of gait disorders. Clinical trials will validate the efficacy of this new option in locomotor therapy on the patients.
TL;DR: Differences in the MLA deformation variables resulting from varied dynamic activities of daily living can be greater than those during walking and should be considered.
Abstract: Background:Understanding the biomechanics of the medial longitudinal arch (MLA) may provide insights into injury risk and prevention, as well as function of the arch-supporting structures. Our understanding of MLA deformation is currently limited to sit-to-stand, walking, and running.Material and Methods:Three-dimensional deformation of the MLA of the right foot was characterized in 17 healthy participants during several simulated activities of daily living. MLA deformation was quantified by both changes in arch length and navicular displacement during the stance phase of three motions: walking, stair ascent, and stair descent. Three levels of load were also evaluated: no load, a front load (13.6 kg), and a backpack load (13.6 kg). Force platforms and an eight-camera motion capture system were used to collect relevant lower extremity kinetic and kinematic data.Results:Motion type had a significant (p < 0.05) effect on navicular displacement and arch length elongation with navicular displacement being grea...
TL;DR: Pedestrians in lower SE areas appear less likely to climb stairs than pedestrians in high SE areas, Nevertheless, a stair climbing intervention was equally effective in both areas.
Patent•
13 Apr 2011
TL;DR: In this article, a stair exercise device for simulating stair climbing is presented, the device having a plurality of steps which are activated by the weight of a person walking up them, a stationary platform at the base of the stair exercise devices sends a signal to a controller to bring the exercise device to a controlled stop when an operator steps onto the platform.
Abstract: The present invention relates to a stair exercise device for simulating stair climbing, the device having a plurality of steps which are activated by the weight of a person walking up them. A stationary platform at the base of the stair exercise device sends a signal to a controller to bring the exercise device to a controlled stop when an operator steps onto the platform. The steps of the exercise device stop in a predetermined location when the exercise device comes to a controlled stop, ensuring proper step location to allow the operator to easily enter and exit the exercise device. Steps have a step platform of a different color than the risers between steps to aid in foot placement.
TL;DR: It was demonstrated that increased stair slopes and walking speed were associated with increased heart rate and RPE, and it was easier for subjects to carry a load of the same weight up stairs by backpack than by hand.
Abstract: The purpose of this study was to examine the effects of load carrying methods, stair slopes and walking speeds on heart rate and walking postures. Nine participants climbed up and down stairs with various stair slopes (24°, 30° and 36°), walking speeds (72, 96, and 132 steps per minute), and using different load carrying methods (empty loads, backpack, and hand-held). The effects of these factors on heart rate, Borg-RPE and flexion angles of knee joints, hip joints and trunk angles were investigated. This study demonstrated that increased stair slopes and walking speed were associated with increased heart rate and RPE. The heart rate for empty loads subjects was lowest, followed by backpack load and hand-held load. Climbing stairs with larger inclination was associated with smaller knee joint flexion angle and larger trunk and hip joint flexion angle. In conclusion, it is easier for subjects to carry a load of the same weight up stairs by backpack than by hand. However, the stair slope should be less than 30°. Thus, the standard fixed stair slope (30° of stair slope) on recommended for riser height and tread depth are 160 mm (6.5 inches) and tread depth 280 mm (11 inches).
TL;DR: The paper presents a complete integrated control architecture and communication strategy for a system of reconfigurable robots that can climb stairs and shows that the implementation of the behavior control systems was successful.
Abstract: — For disaster mitigation as well as for urban search and rescue missions, it is often necessary to place sensors or cameras into dangerous or inaccessible areas to get better situation awareness for the rescue personnel, before they enter a possibly dangerous area. Robots are predestined to this task, but the requirements for such mobile systems are demanding. They should be quick and agile and, at the same time, be able to deal with rough terrain and even to climb stairs. This paper presents the design and implementation of a feedback control system for an RF remote-controlled stair-climbing robot. The robot is controlled using PIC 16F877A.The paper presents a complete integrated control architecture and communication strategy for a system of reconfigurable robots that can climb stairs. Its mechanical design is suitable with back wheel to drive the robot over rubble, and large wheels in the front driven by dc motor for climbing stairs. The operator can monitor the robot operation by using video that are captured through a camera on the surface of the robot. The robot system is implemented by using MikroC and visual basic programs. Experimental trials showed that the implementation of the behavior control systems was successful.
Patent•
17 Aug 2011
TL;DR: In this paper, a multi-purpose stair climbing device consisting of a supporting bracket, telescopic legs, pressure sensors, a storage battery, an electrical sliding track, and a horizontal sensor is presented.
Abstract: The utility model discloses a novel multi-purpose stair climbing device and is characterized in that the novel multi-purpose stair climbing device comprises a supporting bracket (1), telescopic legs (2), pressure sensors (3), a storage battery (4), an electrical sliding track (5) and a horizontal sensor (6) arranged on the supporting bracket (1), wherein the supporting bracket (1) has two parts which are connected together through the electrical sliding track (5), one telescopic leg (2) is arranged at each corner of each part of the supporting bracket (1), one pressure sensor (3) is arranged at the bottom of each telescopic leg (2), and the storage battery (4) is arranged on the supporting bracket (1). The novel multi-purpose stair climbing device moves forward by means of alternate sliding motion of the supporting bracket; the whole device can stably climb the stairs in a way that the telescopic legs extend synchronously n in the horizontal direction; the novel multi-purpose stair climbing device reaches the automation level by using electric power, can adapt to different stair environments, and achieves multiple purposes; Besides, the application range is greatly increased, the manufacturing principle is simple, the cost is relatively low and the novel multi-purpose stair climbing device is easy to manufacture.
TL;DR: A novel ZUPT system which can be used in a wide range of human activities, including walking, running, and stair climbing by using two inertial measurement unit IMU modules attached on the centre of the human body for human activities' classification and recognition.
Abstract: Previous studies show that inertial sensor-based personal positioning benefited from Zero Velocity Update ZUPT method by resetting the foot speed at every foot step. However, only the solution for normal pedestrian movement with small velocity like walking was given. This paper presents a novel ZUPT system which can be used in a wide range of human activities, including walking, running, and stair climbing by using two inertial measurement unit IMU modules. One is attached on the centre of the human body for human activities' classification and recognition. The other one is mounted on the foot for ZUPT algorithm implementation based on the result of activities' recognition. Test cases include stair climbing by walking and running, walking, fast walking, and running. In all cases, most of the steps are able to be detected and the new ZUPT system can be successfully implemented.
19 Dec 2011
TL;DR: The rescue support stretcher system for a heavy casualty disaster in underground areas or at stations can be handled in a quick, effective manner and the technique of upgrade is proposed.
Abstract: A sarin gas incident occurred in the Tokyo subway system on March 20, 1995. This fatal gas attack caused sicknesses to many passengers. Since the disaster broke out under the ground, the main job of rescue personnel was to transport victims on stretchers to a first-aid station on the ground. So, we research and development the rescue support stretcher system for a heavy casualty disaster in underground areas or at stations can be handled in a quick, effective manner. The stretcher system is expected to help firefighters achieve efficient rescue operations. In this paper, we introduce the rescue support stretcher system for going up and down the stairs. And, we propose the technique of upgrade. Finally, we examined the effectiveness of the system by the experiment.
TL;DR: This work was supported by grants-in-aid for young scientists from the Ministry of Education, Science, Sports and Culture of Japan.
Abstract: Stair climbing has been encouraged as a health promotion measure in the general population, and health benefits have been demonstrated in young people, but these benefits may not extend to older adults, and living in a building with stairs may prove challenging for older adults. This study aimed to examine health-related difficulties with stairs in a large, prospective cohort study of older adults. The hypothesis was that older adults with a chronic condition and without a partner would report greater difficulty in managing stairs. In this large community sample of older adults aged 82 to 87, it was found that women were more likely than men to report that their health limited them in climbing several flights or one flight of stairs. Overall, older adults who were unpartnered or who had a chronic condition were more likely to experience difficulty in managing stairs. In a sample of adults aged 82 to 87, women reported greater difficulty with stairs than men. In addition, adults without partners and those with a chronic condition had greater difficulty managing one or more flights of stairs. The identification of these groups could be useful for targeting interventions.
Patent•
08 Jun 2011
TL;DR: In this paper, a wheelchair with a stair climbing function is presented, where a row of tiger teeth are arranged at the lower part of the wheelchair and used for increasing the friction force between the base and a stair, a front supporting rod and a rear supporting rod are arranged on the base, and the tiger teeth connect between the front and rear supporting rods.
Abstract: The utility model provides a wheelchair with stair climbing function, which comprises a wheelchair, wherein a base is arranged below the wheelchair, a row of tiger teeth are arranged at the lower part of the base and used for increasing the friction force between the base and a stair, a front supporting rod and a rear supporting rod are arranged on the base, and the tiger teeth are connected between the front supporting rod and the rear supporting rod. In the stair climbing process, a person sitting in the wheelchair pulls a rear wheel driving wheel to slowly reduce the speed through the friction between the tiger teeth and the surfaces of stairs and then go down or ascend the stairs; and the front supporting rod and the rear supporting rod are arranged with a certain angle relative to the horizontal plane, so that the wheelchair can climb the stair stably without the risk of turning over.
01 Jan 2011
TL;DR: This paper presents stair-climbing as a case study, thus demonstrating the efficacy of the 3-tier approach, and presents an effective climbing pattern generation and analytic inverse kinematics.
Abstract: This paper introduces a 3-tier infrastructure for humanoid research. Using the KAIST humanoid Hubo-2, virtual, mini-, and online-Hubo comprise an infrastructure to respectively prototype, test-and-evaluate, and verify-andvalidate algorithms. The resulting closed-loop design cycle promotes research that can reproduced and verified by the humanoid research community. This paper presents stair-climbing as a case study, thus demonstrating the efficacy of the 3-tier approach. Beyond the 3-tier infrastructure, the paper presents an effective climbing pattern generation and analytic inverse kinematics. This stairclimbing approach is prototyped in virtual-Hubo, experimentally tested-and-evaluated on mini-Hubo, and verifiedand-validated on online-Hubo.
Patent•
29 Jun 2011
TL;DR: In this paper, an Archimedes spiral wheel and double-rocker mechanism for a stair climbing trolley is presented, which is applied to a stair cleaning robot which is provided with two sets of transmission mechanisms, a main motor is meshed with a driving center shaft through a gear, and then four chain wheels on the centre shaft drive four archimedes trilobed wheels to move respectively.
Abstract: The invention aims to provide an Archimedes spiral wheel and double-rocker mechanism for a stair climbing trolley, which reflects brand new concepts on automation up and down stairs and has stable and continuous motion. The Archimedes spiral wheel and double-rocker mechanism consists of Archimedes spiral trilobed wheels and a double-rocker mechanism, which are connected. The Archimedes spiral wheel and double-rocker mechanism for the stair climbing trolley is applied to a stair cleaning robot which is provided with two sets of transmission mechanisms, a main motor is meshed with a driving centre shaft through a gear, and then four chain wheels on the centre shaft drive four Archimedes spiral trilobed wheels to move respectively. The Archimedes spiral wheel and double-rocker mechanism for the stair climbing trolley has the advantages of stable and continuous motion, strong bearing capacity and running on the flat ground. The invention provides a movable working platform for climbing the stairs, which is convenient to convey up and down the stairs. The mechanism is applied to cleaning the stairs.
01 Jan 2011
TL;DR: It is suggested that within the context of a youth-services agency using a mobile app to provide real-time information about earthquake-triggered landsliding and liquefaction is a viable process.
Abstract: .....................................................................................................ii Acknowledgments....................................................................................iii Table of