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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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Journal ArticleDOI
TL;DR: In this article, an adaptive compliance controller for hybrid legged-wheeled robots is described, which allows the system to cope with a variety of stairs, very rough terrain, and is also able to move with high velocity on flat ground without changing the control parameters.
Abstract: Purpose – The purpose of this paper is to describe an innovative compliance control architecture for hybrid multi‐legged robots. The approach was verified on the hybrid legged‐wheeled robot ASGUARD, which was inspired by quadruped animals. The adaptive compliance controller allows the system to cope with a variety of stairs, very rough terrain, and is also able to move with high velocity on flat ground without changing the control parameters.Design/methodology/approach – The paper shows how this adaptivity results in a versatile controller for hybrid legged‐wheeled robots. For the locomotion control we use an adaptive model of motion pattern generators. The control approach takes into account the proprioceptive information of the torques, which are applied on the legs. The controller itself is embedded on a FPGA‐based, custom designed motor control board. An additional proprioceptive inclination feedback is used to make the same controller more robust in terms of stair‐climbing capabilities.Findings – The...

12 citations

Journal ArticleDOI
TL;DR: It is suggested that improving the visibility of the stairwell and displaying a stair climbing model on a screen at the POC can result in a short-term increase in both climbing and descending stair use.

12 citations

Book ChapterDOI
01 Jan 2010
TL;DR: An attempt is made to design, develop and construct a mobile robotic vehicle for stair navigation with the following functional attributes: motion on plane surface, navigation on stair- case, autonomous navigation and control including obstacle avoidance and stair detection.
Abstract: The present chapter focuses on the study of different features of stair-climbing mechanisms for transporting materials autonomously. The authors finally concentrate on arm wheel-based design for stair climbing. An attempt is made to design, develop and construct a mobile robotic vehicle for stair navigation with the following functional attributes: (i) motion on plane surface, (ii) navigation on stair- case, i.e., ascending and descending stairs keeping payload carrier platform parallel to the ground, (iii) autonomous navigation and control including obstacle avoidance and stair detection. The authors attempt to design a skid steer model incorporating the slip-friction for motion on plane surface and sensor-based navigation on stair-case and plane surface. It encompasses necessary controls including vision-assisted controller for stair-case detection and sonar data-based two layered fuzzy logic technique for obstacle avoidance.

12 citations

Patent
05 Aug 2015
TL;DR: In this paper, an intelligent horizontal-attitude stair-climbing wheelchair and a rotary stair climbing method are presented. But the wheelchair is not equipped with a front leg lifting system and rear wheels.
Abstract: The invention provides an intelligent horizontal-attitude stair-climbing wheelchair and a rotary stair-climbing method The intelligent horizontal-attitude stair-climbing wheelchair comprises an upper plate, a switching plate and a lower plate, wherein the upper plate is fixedly connected with a chair, and rear wheels are arranged on the lower side of the chair The chair is connected with front legs through a front leg lifting system, and front wheels are arranged on the front legs The front leg lifting system lifts the front legs to a horizontal attitude, and four liftable outer legs are fixed to the lower side of the upper plate The upper plate and the switching plate are connected through a steering shaft and rotate relatively to each other through the steering shaft, and the switching plate and the lower plate are connected with each other through a leading screw and realize relative rectilinear motion through the leading screw Four liftable inner legs are fixed on the lower side of the lower plate, and the inner legs are arranged on the inner side of the outer legs The intelligent horizontal-attitude stair-climbing wheelchair runs on a level ground fast or slow, and climb stairs to realize two functions

12 citations

Patent
15 Nov 1965

12 citations


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