Design and analysis of an adjustable wheel-legs for stair climbing robot
Conference proceedings article
Authors/Editors
Strategic Research Themes
No matching items found.
Publication Details
Author list: Rattanajindawong T., Saimek S., Maneewarn T.
Publisher: Hindawi
Publication year: 2008
Start page: 247
End page: 252
Number of pages: 6
eISSN: 1745-4557
Languages: English-Great Britain (EN-GB)
Abstract
This paper aims to study the motion of a stair climbing robot which has adjustable wheel-legs design. The leg can be retracted into the wheel on a normal flat terrain operation to maximize the forward moving speed. When approaching a stair or an uneven terrain, the leg can be extended from the wheel to increase its climbing ability. The robot can adapts its configuration to comply with different stair condition such as different in step depth and height. The extend and retract configuration during the rotation cycle called the climbing gait was designed according to the different stair conditions. The trajectories of the robot motion according to the proposed gait design are shown in the simulation.
Keywords
No matching items found.
Contact Information