Stair climbing

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

The design and control of Scout I, a simple quadruped robot /

Abstract: A new type of quadruped robot has been developed, the Scout class. Each leg utilizes only one actuated degree of freedom (as opposed to a typical three) to reduce complexity and cost. The design of the first of these robots, Scout I is presented. In modelling Scout, impacts are assumed instantaneous with angular momentum being conserved about the impacting toe. Stance phases are modelled as a double inverted pendulum with one input and a pin joint with the ground. Walking controllers requiring a minimum of sensing are then developed and examined both in simulation and experiments. Small errors in impact modelling coupled with high setpoint sensitivity are found to result in discrepancies. However, despite this stable open loop walking is achieved in all cases examined. Additional behaviors for Scout are presented, including turning, side stepping, sitting and laying down, and step and stair climbing.

Chassis for stair-climbing vehicles

Abstract: A chassis for stair-climbing wheel chairs with step wheels mounted on a star-shaped rotating supporting means, the step wheels being surrounded by an elastic endless belt, the latter being in contact with portions of the step wheel peripheries. Locking means are mounted on the rotatable supporting portion and are lockable to the inside of the belt means, when the latter is pressed towards the locking means by a stair during the stair climbing operation. When the chassis climbs, the belt being driven, the supporting means will rotate. The locking means releases when the stair has been passed.

Stair Climbing Control for 4-DOF Tracked Vehicle Based on Internal Sensors

Abstract: In search-and-rescue missions, multi-degrees-of-freedom (DOF) tracked robots that are equipped with subtracks are commonly used. These types of robots have superior locomotion performance on rough terrain. However, in teleoperated missions, the performance of tracked robots depends largely on the operators’ ability to control every subtrack appropriately. Therefore, an autonomous traversal function can significantly help in the teleoperation of such robots. In this paper, we propose a planning and control method for 4-DOF tracked robots climbing up/down known stairs automatically based on internal sensors. Experimental results obtained using mockup stairs verify the effectiveness of the proposed method.

Stair climbing activity and vascular function in patients with hypertension.

Abstract: We evaluated the relationship between daily stair climbing activity and vascular function as assessed by flow-mediated vasodilation (FMD) and nitroglycerine-induced vasodilation (NID). This study was a cross-sectional study. A total of 374 patients with hypertension were enrolled. The subjects were divided into three groups based on their daily stair climbing habit: no stairs group, climbing stairs to the 2nd-floor group, and climbing stairs to the ≥3rd-floor group. There was a significant difference in FMD between the ≥3rd-floor group and the other two groups (3.3 ± 2.5% vs. 2.3 ± 2.7% and 2.4 ± 2.7%, p = 0.02, respectively). FMD values were similar in the no stairs group and the 2nd-floor group (p = 0.96). There was a significant difference in NID between the no stairs group and the other two groups (7.4 ± 4.2% vs. 10.9 ± 5.3% and 11.3 ± 5.1%, p < 0.001, respectively). NID values were similar in the second-floor group and the ≥3rd-floor group (p = 0.86). These findings suggest that both endothelial function and vascular smooth muscle function are impaired in individuals who do not climb stairs and that endothelial function but not vascular smooth muscle function is impaired in individuals who climb stairs to the second floor compared with individuals who climb stairs to the ≥3rd floor. Stair climbing activity, a simple method for assessing daily physical activity, may reflect vascular function in patients with hypertension.