Novel design of a small field robot with multi-active crawlers capable of autonomous stair climbing

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...

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Bibliographic Details
Published in:Journal of mechanical science and technology 2010, 24(1), , pp.343-350
Main Authors: Kim, Byeong-Sang, Vu, Quy-Hung, Song, Jae-Bok, Yim, Chung-Hyuk
Format: Article
Language:English
Subjects:
Algorithms
Applied sciences
Autonomous
Climb
Control
Design engineering
Drives
Dynamical Systems
Encounters
Engineering
Exact sciences and technology
Industrial and Production Engineering
Mechanical Engineering
Mechanical engineering. Machine design
Motors
Obstacles
Robots
Shafts, couplings, clutches, brakes
Vibration
기계공학
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Summary: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.
ISSN:1738-494X
1976-3824
DOI:10.1007/s12206-009-1108-7