Topic
Stair climbing
About: Stair climbing is a research topic. Over the lifetime, 1610 publications have been published within this topic receiving 30504 citations.
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09 Sep 1983
TL;DR: In this article, a wheelchair capable of climbing a flight of steps has a cluster of rear wheels rotatably mounted on a member (19) which can pivot on a body (10) of the chair to move the rearwheels upwardly and downwardly and thereby compensate for differences in the levels of the surfaces on which the rear wheels and front wheels of the wheelchair rest.
Abstract: A wheelchair capable of climbing a flight of steps has a cluster of rear wheels rotatably mounted on a member (19) which can pivot on a body (10) of the chair to move the rearwheels upwardly and downwardly and thereby compensate for differences in the levels of the surfaces on which the rear wheels and front wheels of the chair rest. The member (19) is pivoted automatically in accordance with differences between the rotation of front and rear drive elements.
10 citations
01 Dec 2014
TL;DR: Experimental results indicate that the proposed controller for autonomous stair identification, climbing, descending for a tracked robot offers robust performance without the need for an accurate attitude estimator nor a detailed model of the robot's physical and dynamics properties.
Abstract: 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 controller is sufficient for stair climbing and descending task in urban environments. Hence, the potential to be easily implemented on any tracked vehicles that are capable to be manually driven in a stair.
10 citations
TL;DR: The article describes the process of development of an essentially new wheel suitable both for moving on flat ground and for travelling on stairs, which can be used in the field of exploratory robots and for the transportation of persons and materials on stairs.
Abstract: The article describes the process of development of an essentially new wheel suitable both for moving on flat ground and for travelling on stairs. The stair-climbing wheel is composed of rotary cir...
10 citations
TL;DR: A gait algorithm based on a pace gait is proposed, and the performance of this proposed stair-climbing gait for a four-wheeled vehicle is evaluated.
Abstract: This paper proposes a stair-climbing gait for a four-wheeled vehicle. The idea and methodology of climbing stairs are described, and the results of experiments are shown. Crawler-type vehicles and vehicles with special, complicated mechanisms are commonly used for climbing continuous steps (stairs). In contrast, in this paper, a four-wheeled vehicle with additional degrees of freedom, whose mechanism is not as complicated, is discussed. A gait algorithm based on a pace gait is proposed, and its performance is evaluated.
10 citations
21 May 2006
TL;DR: This work investigates the implementation of a system of autonomous robots which can cooperatively reconfigure themselves to collectively traverse obstacles such as stairs and presents a complete behavior and communication system which facilitates this autonomous reconfiguration.
Abstract: The work area of a team of small robots is limited by their inability to traverse a very common obstacle: stairs. We present a complete integrated control architecture and communication strategy for a system of reconfigurable robots that can climb stairs. A modular robot design is presented which allows the robots to dynamically reconfigure to traverse certain obstacles. This work investigates the implementation of a system of autonomous robots which can cooperatively reconfigure themselves to collectively traverse obstacles such as stairs. We present a complete behavior and communication system which facilitates this autonomous reconfiguration. The behavior and communication systems are validated by implementing them on a mobile robot platform synthesized specifically for this research. Experimental trials showed that the implementation of the behavior control systems was successful. Several successful stair climbing trials were accomplished. Improvements to the mechanical design are proposed.
10 citations