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Autonomous Stair Climbing Algorithm for a Small Four-Tracked Robot
Quy-Hung Vu,Byeong-Sang Kim,Jae-Bok Song 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
In outdoor environments, mobility, adaptability and reliability of a robot are more important than its speed and precise trajectory. From a practical point of view, tracked robots have an advantage over wheeled robots in outdoor applications. The tracked robot is frequently operated by using the remote controller, but the remote operation is not effective for all cases. To overcome some complex obstacles such as rocks or stairs, the information related to the robot posture is required. However, the sensor information is not intuitive to the user to control the robot. In this research, a multi-active crawler robot (MACbot) was developed and the autonomous stair climbing algorithm was implemented to deal with those problems. Various experiments show that the MACbot can climb the stair autonomously.
Novel design of a small field robot with multi-active crawlers capable of autonomous stair climbing
김병상,Quy-Hung Vu,송재복,임충혁 대한기계학회 2010 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.24 No.1
Mobile robots often encounter complex obstacles during their operation, not the least of which are stairs. Suitable mechanical structures and adequate control algorithms are both equally important in stair climbing. This paper proposes a novel design for a multi-active crawler robot (MACbot) capable of autonomous stair climbing. The MACbot has four track modules for extended mobility and a recovery arm that facilitates self-rescue capabilities. By adopting the proposed smart clutch mechanism, the MACbot can provide a variety of motions with a minimum number of motors. This paper presents a static analysis for the mechanical design and details the stability analysis for an autonomous stair climbing algorithm. A series of experiments show that the MACbot can autonomously climb stairs reasonably well.
소형로봇을 위한 원추형 스프링 기반의 도약 메커니즘의 개발
김병상(Byeong-Sang Kim),이장운(Jang-Woon Lee),김현중(Hyun-Jung Kim),Vu Quy Hung,송재복(Jae-Bok Song) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5
It is desirable that the guard robot should be small-sized and light-weighted to increase its portability. In addition, it should be able to overcome a relatively high obstacle to cope with different situations. The jumping robot can reach a higher place more rapidly than other locomotion methods. This research proposes the jumping mechanism based on the conical spring for a small robot. Both the clutch mechanism and conical spring are incorporated into the jumping mechanism. In the clutch mechanism, the spring can be immediately compressed and released by one actuator with the planetary gear train and one-way clutch. The robot equipped with the jumping mechanism can overcome the obstacles which are higher than its height. In this paper, the characteristic of the conical spring for the jumping robot is determined and the small-sized, lightweight jumping mechanism is developed. The validity of the jumping mechanism was verified by various experiments. It is shown that the robot using this mechanism can provide good mobility in the rough terrain.