publication . Article . Preprint . 2018

Design of a robust stair-climbing compliant modular robot to tackle overhang on stairs

Bhole, Ajinkya; Turlapati, Sri Harsha; S, Rajashekhar V.; Dixit, Jay; Shah, Suril V.; Krishna, K Madhava;
Open Access
  • Published: 23 Oct 2018 Journal: Robotica, volume 37, pages 428-444 (issn: 0263-5747, eissn: 1469-8668, Copyright policy)
  • Publisher: Cambridge University Press (CUP)
Abstract
<jats:title>SUMMARY</jats:title><jats:p>This paper discusses the concept and parameter design of a robust stair-climbing compliant modular robot, capable of tackling stairs with overhangs. Geometry modifications of the periphery of the wheels of our robot helped in tackling overhangs. Along with establishing a concept design, the robust design parameters are set to minimize performance variations. The Grey-based Taguchi method is applied to provide an optimal setting for the design parameters of the robot. The robot prototype is shown to have successfully scaled stairs of varying dimensions, with overhang, thus corroborating the analysis performed.</jats:p>
Subjects
free text keywords: Control and Systems Engineering, Software, General Mathematics, Computer Science Applications, Engineering, business.industry, business, Stairs, Robot, Modular design, Control engineering, Stair climbing, Computer Science - Robotics
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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))

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publication . Article . Preprint . 2018

Design of a robust stair-climbing compliant modular robot to tackle overhang on stairs

Bhole, Ajinkya; Turlapati, Sri Harsha; S, Rajashekhar V.; Dixit, Jay; Shah, Suril V.; Krishna, K Madhava;