제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제9권1호
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  • Pages.73-81
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  • 2003
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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자율주행 형 계단 승하강용 로봇 시스템 설계

Design of Autonomous Stair Robot System

  • 홍영호 (서울산업대학교 산업대학원 기계설계학과) ;
  • 김동환 (서울산업대학교 기계설계자동화공학부) ;
  • 임충혁 (서울산업대학교 기계설계자동화공학부)
  • 발행 : 2003.01.01
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초록

An autonomous stair robot recognizing the stair, and climbing up and down the stair by utilizing a robot vision, photo sensors, and appropriate climbing algorithm is introduced. Four arms associated with four wheels make the robot climb up and down more safely and faster than a simple track typed robot. The robot can adjust wheel base according to the stair width, hence it can adopt to a variable width stair with different algorithms in climbing up and down. The command and image data acquired from the robot are transferred to the main computer through RF wireless modules, and the data are delivered to a remote computer via a network communication through a proper data compression, thus, the real time image monitoring is implemented effectively.

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참고문헌

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피인용 문헌

  1. Development of a stair-climbing robot using springs and planetary wheels vol.222, pp.7, 2008, https://doi.org/10.1243/09544062JMES1007