Stair climbing control for Stair climbing robot with Involute-Curve-Shaped-Mechanism

2021 ◽  
Vol 2021 (0) ◽  
pp. 1P3-G07
Author(s):  
Ryosuke FUKUDA ◽  
Taku KITAHARA ◽  
Ryota YAMASHINA
Keyword(s):  
Stair Climbing ◽  
Climbing Robot ◽  
Involute Curve

Control of a new stair climbing robot with a slider mechanism in a rotating link

2021 ◽  
Vol 2021 (0) ◽  
pp. 2A1-L05
Author(s):  
Tsukasa YOSHIMURA ◽  
Nobuyasu TOMOKUNI ◽  
Noriho KOYACHI
Keyword(s):  
Stair Climbing ◽  
Climbing Robot

Wheel-Based Stair Climbing Robot with Hopping Mechanism – Demonstration of Continuous Stair Climbing Using Vibration –

2008 ◽  
Vol 20 (2) ◽  
pp. 221-227 ◽  
Author(s):  
Yuji Asai ◽  
◽  
Yasuhiro Chiba ◽  
Keisuke Sakaguchi ◽  
Naoki Bushida ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Stair Climbing ◽  
Design Parameters ◽  
Mass Ratio ◽  
Climbing Robot ◽  
Soft Landing ◽  
Hopping Mechanism ◽  
And Control ◽  
Two Bodies

We propose a simple hopping mechanism using vibration of a two-degrees-of-freedom (2-DOF) system for a fast stair-climbing robot. The robot, consisting of two bodies connected by springs and a wire, hops by releasing energy stored in springs and travels quickly using wheels mounted on its lower body. The trajectories of bodies during hopping change based on mechanical design parameters such as reduced mass of the two bodies, the mass ratio between the upper and lower bodies, and spring constant, and control parameters such as initial contraction of the spring and wire tension. This property allows the robot to quickly and economically climb stairs and land softly without complex control. In this paper, we propose a mathematical model of the robot and investigate required tread length for continuous hopping to climb a flight of stairs. Furthermore, we demonstrate fast stair-climbing and soft landing for a flight of stairs in experiments.

Independent traction control for uneven terrain using stick-slip phenomenon: application to a stair climbing robot

2007 ◽  
Vol 23 (1) ◽  
pp. 3-18 ◽  
Author(s):  
Hyun Do Choi ◽  
Chun Kyu Woo ◽  
Soohyun Kim ◽  
Yoon Keun Kwak ◽  
Sukjune Yoon
Keyword(s):  
Stair Climbing ◽  
Climbing Robot ◽  
Stick Slip ◽  
Traction Control ◽  
Uneven Terrain ◽  
Slip Phenomenon

scholarly journals 2A1-F29 Stair climbing robot with enhanced wheel system

2010 ◽  
Vol 2010 (0) ◽  
pp. _2A1-F29_1-_2A1-F29_2
Author(s):  
Masashi YOSHIKAWA ◽  
Kan TAGUCHI
Keyword(s):  
Stair Climbing ◽  
Climbing Robot

scholarly journals Wheel-Based Stair Climbing Robot with Hopping Mechanism - Fast Stair Climbing and Soft Landing Using Vibration of 2-DOF System -

2007 ◽  
Vol 19 (3) ◽  
pp. 258-263 ◽  
Author(s):  
Keisuke Sakaguchi ◽  
◽  
Takayuki Sudo ◽  
Naoki Bushida ◽  
Yasuhiro Chiba ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Stair Climbing ◽  
Design Parameters ◽  
Control Parameters ◽  
Mass Ratio ◽  
Climbing Robot ◽  
Soft Landing ◽  
Hopping Mechanism ◽  
And Control ◽  
Two Bodies

We propose a simple hopping mechanism using the vibration of a two-degrees-of-freedom (DOF) system for a fast stair-climbing robot. The robot, consisting of two bodies connected by springs, hops by releasing energy stored in springs and travels quickly using wheels mounted on its lower body. The trajectories of bodies during hopping change based on design parameters such as the reduced mass of the two bodies, mass ratio between the upper and lower bodies, spring constant, and control parameters such as initial contraction of the spring and wire tension. This property allows the robot to quickly and economically climb stairs and land softly. In this paper, the characteristics of hopping for the design and control parameters are clarified by both numerical simulation and experiments. Furthermore, fast stair climbing and soft landing are demonstrated.

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