Novel Design of a Wheeled Robot with Double Swing Arms Capable of Autonomous Stair Climbing

2018 ◽  
Author(s):  
Guiping Lan ◽  
Yujun Wang ◽  
Min Yi
Keyword(s):  
Stair Climbing ◽  
Wheeled Robot ◽  
Novel Design

Design and fabrication of a lower limb exoskeleton to assist in stair ascending

2019 ◽  
Vol 46 (2) ◽  
pp. 290-299 ◽  
Author(s):  
Payman Joudzadeh ◽  
Alireza Hadi ◽  
Bahram Tarvirdizadeh ◽  
Danial Borooghani ◽  
Khalil Alipour
Keyword(s):  
Lower Limb ◽  
System Performance ◽  
Design Methodology ◽  
Stair Climbing ◽  
Robot Design ◽  
Disabled People ◽  
Content Type ◽  
Lower Limb Exoskeleton ◽  
Knee Braces ◽  
Novel Design

Purpose This paper aims to deal with the development of a novel lower limb exoskeleton to assist disabled people in stair ascending. Design/methodology/approach For this purpose, a novel design of a mixture of motors and cables has been proposed for users to wear them easily and show the application of the system in stair climbing. Findings One of the prominences of this study is the provided robot design where four joints are actuated with only two motors; each motor actuates either the knees or ankles. Another advantage of the designed system is that with motors placed in a backpack, the knee braces can be worn under clothes to be concealed. Finally, the system performance is evaluated using electromyography (EMG) signals showing 28 per cent reduction in energy consumption of related muscles. Originality/value This investigation deals with the development of a novel lower limb exoskeleton to assist disabled people in stair ascending.

Design, Modeling and Analysis of a Novel Reconfigurable Wheeled Robot With Elastic Actuated Mechanism

2019 ◽  
Author(s):  
Tamer Attia ◽  
Tomonari Furukawa
Keyword(s):  
Vertical Force ◽  
The Novel ◽  
Modeling And Analysis ◽  
Irregular Terrain ◽  
Ground Clearance ◽  
Wheeled Robot ◽  
Body Roll ◽  
In Series ◽  
Robot Configurations ◽  
Novel Design

Abstract This paper presents the novel design of a Reconfigurable Wheeled Robot (RWR) with an Elastic Actuated Mechanism (EAM) capable of improving the robots dynamic stability on irregular terrain by controlling the RWR’s ground clearance, body roll and pitch angles with optimally distributing the vertical force on each tire. The EAM mainly consists of a linear actuator connected in series with a shock absorber. Four sets of the EAM are used to create different robot configurations to adapt to the terrain. The RWR dynamic model is derived for analyzing the dynamic behavior using the linear actuators positions and speeds as inputs to determine the resulting ground clearance, body roll, and pitch angles. Sensors are integrated onboard the RWR to calculate the robot’s states in real-time for use in feedback control. Results obtained in real environments reveal the effectiveness of the proposed novel design in stabilizing the RWR on irregular terrain.

Novel design of stair climbing wheelchair

2018 ◽  
Vol 32 (10) ◽  
pp. 4903-4908 ◽  
Author(s):  
Pravat Kumar Behera ◽  
Ankur Gupta
Keyword(s):  
Stair Climbing ◽  
Novel Design

scholarly journals Novel Design of a Biaxial and Four-Wheeled Robot Capable of Steering

2018 ◽  
Vol 160 ◽  
pp. 06006
Author(s):  
Guiping Lan ◽  
Yujun Wang ◽  
Can Fang ◽  
Min Yi
Keyword(s):  
Control Method ◽  
Experimental Results ◽  
Phase Method ◽  
Mechanical Structure ◽  
Wheeled Robot ◽  
The Difference ◽  
The Stability ◽  
Novel Design

The paper presents a biaxial and four-wheeled robot, mainly composed of two axle, two circular wheels and two three-leaved wheels. By analyzing the difference between the velocity of the circular wheel and three-leaved wheel in same axle, the steering principle of the difference velocity is proved. The three-leaved wheels are installed by a complementary phase method to ensure the stability of the robot walking. Through the steering principle, the control method of robot’s forward, backward, turn left and turn right is designed. A large number of experimental results show that the robot has the characteristics of high steering efficiency, simple mechanical structure and easy to control.

2A2-C01 Stair climbing of quadrupedal wheeled robot with 2 wheels per 1 leg(Walking Robot)

2011 ◽  
Vol 2011 (0) ◽  
pp. _2A2-C01_1-_2A2-C01_2
Author(s):  
Katsuyuki SAGAYAMA ◽  
Hironori OGAWA ◽  
Kazuteru TOBITA ◽  
Sumio SUGITA
Keyword(s):  
Stair Climbing ◽  
Walking Robot ◽  
Wheeled Robot
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