Stair climbing

About: Stair climbing is a research topic. Over the lifetime, 1610 publications have been published within this topic receiving 30504 citations.

Trajectory planning and four-leg coordination for stair climbing in a quadruped robot

Abstract: We report on the algorithm of trajectory planning and four leg coordination for quasi-static stair climbing in a quadruped robot. 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. In addition, a brief study on stability of the robot is also reported. Finally, simulation and experimental test are also executed to evaluate the performance of the algorithm.

The development of a multi-legged robot using eight-bar linkages as leg mechanisms with switchable modes for walking and stair climbing

Abstract: This paper introduces an innovative design of a multi-legged robot with switchable modes for walking and stair climbing. The Jansen-type eight-bar linkages are used as leg mechanisms with a new set of link dimensions (identified by the proposed path synthesis method) to generate foot trajectory for stair climbing motion. The objective function of the proposed path synthesis method is to minimize the tacking error between the target and generated trajectories. A counterweight slider to adjust the center of gravity of the multi-legged robot is used to switch the robot to either walking mode or stair climbing mode. The system design, and simulation results by using the commercial multibody dynamic analysis software, RecurDyn, are provided. The proposed design is prototyped, and can be remote controlled by a smartphone through Arduino and its Bluetooth module. The eight legs of the robot are driven by a dual-output-shaft DC motor through two gear trains. The simulated and experimental results show the developed robot is capable for both legged walking and stair climbing.

Modeling paddle-aided stair-climbing for a mobile robot based on eccentric paddle mechanism

Abstract: 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. Frictional requirements for the robot to hold a desired posture are evaluated by modelling statics of the robot. Analyzed results reveal that two critical scenarios in wheeled mode occur when the front-wheel is at the bottom of the riser, and when the rear-wheel is at the top of the riser, respectively. In contrast, frictional requirements of the paddle-aided stair-climbing postures confirm that the robot can climb up the stair with all feasible postures by touching the stair with the paddle, which verifies the effectiveness of the proposed paddle-aided stair-climbing.

Development of rescue support stretcher system with stair-climbing

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.