Kinematics and Control of a Stair Climbing Robot

Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review

Autorschaft

  • A. Michaelsen
  • K. Popp

Organisationseinheiten

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Details

OriginalspracheEnglisch
Titel des SammelwerksProc. of the 7th int. Conference on Motion and Vibration Control
ErscheinungsortSt. Louis, USA
PublikationsstatusVeröffentlicht - 2004

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.

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Kinematics and Control of a Stair Climbing Robot. / Michaelsen, A.; Popp, K.
Proc. of the 7th int. Conference on Motion and Vibration Control. St. Louis, USA, 2004.

Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review

Michaelsen, A & Popp, K 2004, Kinematics and Control of a Stair Climbing Robot. in Proc. of the 7th int. Conference on Motion and Vibration Control. St. Louis, USA.
Michaelsen, A., & Popp, K. (2004). Kinematics and Control of a Stair Climbing Robot. In Proc. of the 7th int. Conference on Motion and Vibration Control
Michaelsen A, Popp K. Kinematics and Control of a Stair Climbing Robot. in Proc. of the 7th int. Conference on Motion and Vibration Control. St. Louis, USA. 2004
Michaelsen, A. ; Popp, K. / Kinematics and Control of a Stair Climbing Robot. Proc. of the 7th int. Conference on Motion and Vibration Control. St. Louis, USA, 2004.
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