TY - GEN
T1 - Autonomous stair climbing algorithm for a small four-tracked robot
AU - Vu, Quy Hung
AU - Kim, Byeong Sang
AU - Song, Jae Bok
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
KW - Autonomous stair climbing
KW - Stability analysis
KW - Tracked robot
UR - http://www.scopus.com/inward/record.url?scp=58149101746&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2008.4694199
DO - 10.1109/ICCAS.2008.4694199
M3 - Conference contribution
AN - SCOPUS:58149101746
SN - 9788995003893
T3 - 2008 International Conference on Control, Automation and Systems, ICCAS 2008
SP - 2356
EP - 2360
BT - 2008 International Conference on Control, Automation and Systems, ICCAS 2008
T2 - 2008 International Conference on Control, Automation and Systems, ICCAS 2008
Y2 - 14 October 2008 through 17 October 2008
ER -