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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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Patent
09 Nov 2016
TL;DR: In this article, the authors proposed a power-assisted transferring trolley capable of climbing stairs, which consists of a bearing device for bearing goods, a stair climbing device capable of achieving stair climbing through track movement, a flat ground and stair converting device used for adjusting the working angle between the bearing device and the stair climbing devices, and a power source.
Abstract: The invention relates to a power-assisted transferring trolley capable of climbing stairs. The power-assisted transferring trolley capable of climbing stairs comprises a bearing device used for bearing goods, a stair climbing device capable of achieving stair climbing through track movement, a flat ground and stair converting device used for adjusting the working angle between the bearing device and the stair climbing device, a control device used for controlling the working states of the stair climbing devices and the flat ground and stair converting device, and a power source. The bearing device and the stair climbing device are connected through the flat ground and stair converting device. The flat ground and stair converting device comprises a telescopic push rod, a push rod cylinder and a push rod driving motor. The push rod driving motor provides power for the operation of the push rod cylinder. The operating state of the push rod cylinder determines the telescopic length of the push rod. The power-assisted transferring trolley capable of climbing stairs has a flat road traveling function and a stair climbing function, and the movement speed and direction of the trolley can be adjusted; and in addition, the power-assisted transferring trolley is simple in structure and convenient to operate, the labor intensity of operators is greatly relieved, and the working efficiency and safety are improved.

2 citations

Patent
01 Feb 1995
TL;DR: In this paper, the authors propose a domestic multi-purpose handcart capable of driving on flat ground and stairs, which is mainly composed of a handcart box in which a front handrail handle and a back stair climbing wheel, handrail handles are arranged, an assistor which can be slid on the positioning groove of the handcart, a multiple division stair climbing wheels, a front wheel of a flat ground wheel, a ratchet wheel, etc.
Abstract: The utility model relates to a domestic multi-purpose handcart capable of driving on flat ground and stairs. The utility model is mainly composed of a handcart box in which a front handrail handle and a back stair climbing wheel, handrail handle are arranged, an assistor which can be slid on the positioning groove of the handcart box, a multiple division stair climbing wheel, a front wheel of a flat ground wheel, a ratchet wheel, a belt, etc. The utility model solves the problem of people living in high-rise buildings of carrying things upstairs. The utility model brings convenience to children, old people, and disabled people at the same time. Time is saved, and labor is saved. The utility model has the advantages of simple manufacturing process and high durability.

2 citations

Patent
11 Sep 2018
TL;DR: In this paper, an aweighing water tank is designed for stair climbing, and the water is filled with water before down stairs, then the water can be poured out after down stairs and the gravity of water can offset an energy difference value of stair climbing and down stairs.
Abstract: Buildings with six stories or less stories are not provided with elevators at present, life is inconvenient, and rooms are difficult to make for mounting of elevators if elevators are additionally mounted. Each step of a step ladder is provided with an energy storage stair climbing power booster, thus, a person goes upstairs and goes downstairs just like walk on a level road, during down stairs, apedal descends stably while springs are deformed, energy is stored, and knee joints are protected against impact. During stair climbing, the stored energy is released, the person is lifted to the height equal to that of the upper step, and the effect that the person climbs the stairs by stepping levelly is achieved. The energy stored during down stairs is insufficient for stair climbing, thus, aweighing water tank is designed, the weighing water tank is filled with water (domestic sewage can be used) before down stairs, then the water is poured out after down stairs, and the gravity of the water can offset an energy difference value of stair climbing and down stairs. The weighing water tank may not be used of course, then the person exerts little strength during stair climbing, and stairclimbing is already much easier than original stair climbing modes.

2 citations

Proceedings ArticleDOI
01 Oct 2017
TL;DR: An image processing algorithm was developed which halts the motion of UGV if the calculated slope exceeds the threshold value with a maximum error of about 8%.
Abstract: This paper presents the design of a stair climbing fixed flipper unmanned ground vehicle (UGV) for urban search and rescue purposes. Mobile flippers are being used in certain UGVs for enhanced mobility in rough terrains, however, the control algorithm of these platforms is complex. To add this enhanced mobility in the UGV and to reduce the intricacy of the control algorithm, anterior end of the tracks are lifted up which enables the UGV to pass over obstacles with relative ease. To prevent the rollover of UGV while moving on an inclined surface, an image processing algorithm was developed which halts the motion of UGV if the calculated slope exceeds the threshold value with a maximum error of about 8%. Furthermore, left and right track velocities along with the turn radius were also calculated.

2 citations

Proceedings ArticleDOI
01 Sep 2019
TL;DR: Kinematics, dynamic modeling and trajectory planning of a seven links planar biped robot with six joints, walking on stair with different level ground in the sagital plane and position vector from Full-body kinematics will be used to complete the dynamic system model of T-Flow humanoid robot.
Abstract: Walking on uneven surface with balanced manner is the key of the humanoid robot. Many essential parameters of the human walking can be captured with seven links planar biped robot. Hence, in this work kinematics, dynamic modeling and trajectory planning of a seven links planar biped robot with six joints, walking on stair with different level ground in the sagital plane. In this paper, the discussion is concerned to control kinematics for dynamic up and down stairs of the humanoid robot with Full-body kinematics based on Zero Moment Point (ZMP) to analyze stability of the bipedal robot. We define that stair configuration is already known. Dynamic of stair climbing is more unstable than dynamic walking on the ground because it needs an additional vertical motion and has different step length of walking. On this kinematics, center of the robot position of mass is adjusted by the upper body of the robot.Trajectory planning based on the behaviour human walking. The validity of the proposed method is confirmed by simulation, using geometry analysis equation and a uniques strategy for ascending and descending stairs. Furthermore Full-body kinematics for analysis has a good result on the simulation experiment with accuracy 100 percent. Position vector from Full-body kinematics will be used to complete the dynamic system model of T-Flow humanoid robot.

2 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
202344
2022121
202165
202090
2019129
201896