A Kinect-sensor-based Tracked Robot for Exploring and Climbing Stairs

Article English OPEN
I-Hsum Li; Wei-Yen Wang; Chien-Kai Tseng;

This paper focuses on the stair-climbing problem for a tracked robot. The tracked robot designed in this paper has the ability to explore stairs in an unknown indoor environment, climbing up and down the stairs, keeping balance while climbing, and successfully landing o... View more
  • References (18)
    18 references, page 1 of 2

    [2] J. D. Martens, and W. S. Newman, Stabilization of a mobile robot climbing stairs, IEEE International Conference on Robotics and Automation (1994).

    [3] Y. Liu, and G. Liu, Modeling of tracked mobile manipulators with consideration of track-terrain and vehicle-manipulator interaction, Robotics and Autonomous Systems, 57 (2009) 1065-1074.

    [4] W. Wang, Z. Du, and L. Sun, Kinematics analysis for obstacle-climbing performance of a rescue robot, IEEE International Conference on Robotics and Biomimetics, (2007) 15-18.

    [5] I-H. Li, N.-H. Fang, W.-Y. Wang, and Y.-H. Chien, A control design of Kinect-sensor-based tracked robot for an unknown ramp environment, 2012 CACS International Automatic Control Conference (2012).

    [6] J. Kim, C. Lee, and G. Kim, Study of machine design for a transformable shape single-tracked vehicle system, Mechanism and machine theory, 45 (2010) 1082-1095.

    [7] H. Y. Liu, W. J. Wang, and R. J. Wang, A course in simulation and demonstration of humanoid robot motion, IEEE Trans. on Education, 54(2) (2011) 255-262.

    [8] W. Wang, Y. C. Bai, G. P. Wu, S. X. Li and Q. Chen, The Mechanism of a Snake-Like Robot's Clamping Obstacle Navigation on High Voltage Transmission Lines, International Journal of Advanced Robotic Systems, 10 (2013) 1-14.

    [9] A. Davids, Urban search and rescue robots: from tragedy to technology, Proceedings of the IEEE Intelligent Systems (2002) 81-83.

    [10] H. L. Cheong, H. K. Soo, C. K. Sung, et al., Doubletrack mobile robot for hazardous environment applications, Advanced Robotics 17(5) (2003) 447-459.

    [11] G. W. Kohler, N. Sleigh, M. Salaske, Manipulator vehicle of the nuclear emergency brigade in the Federal Republic of Germany, Proceeding of 24th Conference on Remote System Technology (1976) 196-218.

  • Metrics
Share - Bookmark