Kinematics and Control of a Stair Climbing Robot

verfasst von
A. Michaelsen, K. Popp
Abstract

There are various stair-climbing devices and vehicles. Only a few of them are autonomous and car carry large pay loads. In this contribution a new operating principle of a wheel-based autonomous stair-climbing robot is presented. The robot actuators were designed to carry heavy loads e.g. for the transportation of wheelchair users. On plain surfaces the robot moves like a normal four-wheeled vehicle. A special climbing mechanism helps to overcome stages and stairs with different tread and pitch. The mechanisms are arranged in pairs at the front and the rear axle. The stair dimensions are detected by ultrasonic sensors. Using these data as input values the control coordinates the wheel drives and lift mechanism.

Organisationseinheit(en)
Institut für Mechatronische Systeme
Typ
Aufsatz in Konferenzband
Publikationsdatum
2004
Publikationsstatus
Veröffentlicht
Peer-reviewed
Ja