Design of a Robust Stair Climbing Compliant Modular Robot to Tackle Overhang on Stairs

Preprint English OPEN
Bhole, Ajinkya; Turlapati, Sri Harsha; S, Rajashekhar V.; Dixit, Jay; Shah, Suril V.; Krishna, K Madhava;
(2016)
  • Subject: Computer Science - Robotics

This paper discusses the concept and parameter design of a Robust Stair Climbing Compliant Modular Robot, capable of tackling stairs with overhangs. Modifying the geometry of the periphery of the wheels of our robot helps in tackling overhangs. Along with establishing a... View more
  • References (23)
    23 references, page 1 of 3

    [1] S Avinash, A Srivastava, A Purohit, SV Shah, and K M Krishna. A compliant multi-module robot for climbing big step-like obstacles. In ICRA, pages 3397-3402. IEEE, 2014.

    [2] S.H. Turlapati, M Shah, P Singamaneni, A Siravuru, S.V. Shah, and K. M. Krishna. Stair climbing using a compliant modular robot. IROS, 2015.

    [3] D Choi, J Oh, and J Kim. Analysis method of climbing stairs with the rocker-bogie mechanism. Journal of Mechanical Science and Technology, 27(9):2783-2788, 2013.

    [4] T Estier, Y Crausaz, B Merminod, M Lauria, R Piguet, and R Siegwart. An innovative space rover with extended climbing abilities. In None, number LSA-CONF-2000-003, 2000.

    [5] M Lauria, Y Piguet, and R Siegwart. Octopus: an autonomous wheeled climbing robot. In CLAWAR, pages 315-322, 2002.

    [6] M Eich, F Grimminger, S Bosse, D Spenneberg, and F Kirchner. Asguard: A hybrid-wheel security and sar-robot using bio-inspired locomotion for rough terrain. In International Workshop on Robotics for Risky Interventions & Surveillance of Environment, Benica`ssim Spain, 2008.

    Fig. 16: The robot prototype with optimal set of design parameters successfully climbing stairs of dimensions specified in the first,second and third level of noise factors ((a),(b) and (c)), and on staircases in urban setting ((c) and (d))

    [7] H Komura, H Yamada, S Hirose, G Endo, and K Suzumori. Study of swing-grouser wheel: A wheel for climbing high steps, even in low friction environment. In IROS, pages 4159-4164. IEEE, 2015.

    [8] EZ Moore, D Campbell, F Grimminger, and M Buehler. Reliable stair climbing in the simple hexapod'rhex'. In ICRA, volume 3, pages 2222-2227. IEEE, 2002.

    [9] JB Jeans and D Hong. Impass: Intelligent mobility platform with active spoke system. In ICRA, pages 1605-1606. IEEE, 2009.

  • Metrics
    No metrics available
Share - Bookmark