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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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Proceedings ArticleDOI
TL;DR: The paper deals with the gait generation of 12 degrees of freedom biped robot for dynamic walking and stair climbing and the stability of the system is analyzed with Zero Moment Point concept.
Abstract: Stable biped locomotion with minimum power requirement has become a major research topic as a result of the recent advances in humanoid robots. The paper deals with the gait generation of 12 degrees of freedom biped robot for dynamic walking and stair climbing. The main objective of the project is to simulate the gait pattern for dynamically stable locomotion in a structured environment. The kinematic analysis is done with Denavit--Hartenberg formulation and the dynamic analysis using Newton Euler method. The stability of the system is analyzed with Zero Moment Point concept.

1 citations

Patent
19 Nov 2019
TL;DR: In this article, a multifunctional stair master consisting of a base frame, a stair climbing mechanism, a material loading plate and a fork plate assembly is presented, where walking rollers are arranged at the lower part of one side of the base frame and used for climbing stairs.
Abstract: The invention discloses a multifunctional stair master. The multifunctional stair master comprises a base frame, a stair climbing mechanism, a material loading plate and a fork plate assembly, whereinwalking rollers are arranged at the lower part of one side of the base frame; the stair climbing mechanism is arranged at the lower part of the base frame and is used for climbing stairs; the material loading plate is arranged on the base frame in a liftable manner; the fork plate assembly is provided with connecting rods and auxiliary rollers; one end of each connecting rod is detachably arranged at the lower part of the other side of the base frame; each assisting roller is detachably arranged at the other end of the corresponding connecting rod; and the connecting rods do not be parallel to the material loading plate after being arranged. The multifunctional stair master disclosed by the invention has a basic function of climbing and lifting goods, and is conveniently docked with a truck; by changing the mounting angles of the connecting rods, the connecting rods can play a role of a pallet fork in the truck or is matched with the walking rollers, so that the multifunctional stairmaster can flexibly move on the flat ground and is quite convenient; and the multifunctional stair master is simple and ingenious in structure and can realize the effect of reducing labor intensity inthe whole handling process of goods.

1 citations

Patent
14 Jul 2020
TL;DR: In this paper, a library barrier-free stair slope structure is described, which comprises a slope and a top surface platform, and the slope comprises an uphill area, stairs and a downhill area; a traction structure and a descent control device are arranged on the side, close to the uphill area and the downhill area, of the top face platform.
Abstract: The utility model discloses a library barrier-free stair slope structure which comprises a slope and a top surface platform, and the slope comprises an uphill area, stairs and a downhill area; a traction structure and a descent control device are arranged on the side, close to the uphill area and the downhill area, of the top face platform, the descent control device comprises a mooring rope, anda rope sleeve is sewn to the end, away from the descent control device, of the mooring rope. A longitudinally-arranged pulley limiting groove is turned in the uphill area, and a transversely-arrangedspeed limiting protruding strip is poured on the downhill area. The traction structure has the functions of traction and dragging, so that a wheelchair user and a cargo carrier do not need to go upstairs and downstairs with great effort; the descent control device has the function of slowly releasing the mooring rope, so that accidents caused by over-high speed of the carrier and the wheelchair can be avoided; in addition, the pulley limiting grooves and the speed limiting protruding strips play a role in auxiliary protection in the process that the user goes upstairs and downstairs, and the anti-skid washers and the motor controller on the protective guard reflect the humanization of the stair climbing device.

1 citations


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