Kinematics and Control of a Stair Climbing Robot

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Authors

  • A. Michaelsen
  • K. Popp

Research Organisations

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Details

Original languageEnglish
Title of host publicationProc. of the 7th int. Conference on Motion and Vibration Control
Place of PublicationSt. Louis, USA
Publication statusPublished - 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.

Cite this

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.

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › 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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