전기전자학회논문지 (Journal of IKEEE)

  • 제25권2호
  • /
  • Pages.362-370
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  • 2021
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  • 1226-7244(pISSN)
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  • 2288-243X(eISSN)
한국전기전자학회 (Institute of Korean Electrical and Electronics Engineers)
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계단 승강 로봇의 계단 승강 시 랜딩기어를 활용한 자율 승강 기법에 관한 연구

A Study on Autonomous Stair-climbing System Using Landing Gear for Stair-climbing Robot

  • Hwang, Hyun-Chang (Dept. of Information & Communication Eng. Korea Polytechnic University) ;
  • Lee, Won-Young (Dept. of Information & Communication Eng. Korea Polytechnic University) ;
  • Ha, Jong-Hee (Dept. of Electronics Eng. Korea Polytechnic University) ;
  • Lee, Eung-Hyuck (Dept. of Electronics Eng. Korea Polytechnic University)
  • 투고 : 2021.05.24
  • 심사 : 2021.06.24
  • 발행 : 2021.06.30
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초록

본 논문에서는 휠체어 사용자의 이동권 확보를 위한 계단 승강 로봇 개발에 있어 ToF센서 및 IMU의 데이터를 기반으로 자율 계단 승강 기법을 제시하였다. 자율 계단 계단 승강 기법은 랜딩기어 동작 시점을 위치로 구분하고 상태 머신을 활용하여 제어하였다. 본 연구에서 제시한 이론의 검증을 위해 표준 기준의 모형 계단을 제작하여 실험하였다. 진입각 확보 실험을 통해 랜딩기어의 동작 길이 평균 오차는 2.19%, Pitching 기준 진입각 평균 오차는 2.78%로 부드러운 진입을 확인하였고, 자율 계단 승강 기법의 단계 구분 및 상태 전이를 검증하였다. 제안된 기법의 실적용 시 교통약자들의 이동제약을 줄일 수 있을 것이고, 이동권 보장을 통한 자립심의 고취가 기대된다.

In this paper, we propose the Autonomous Stair-climbing system based on data from ToF sensors and IMU in developing stair-climbing robots to passive wheelchair users. Autonomous stair-climbing system are controlled by separating the timing of landing gear operation by location and utilizing state machines. To prove the theory, we construct and experiment with standard model stairs. Through an experiment to get the Attack angle, the average error of operating landing gear was 2.19% and the average error of the Attack angle was 2.78%, and the step division and status transition of the autonomous stair-climbing system were verified. As a result, the performance of the proposed techniques will reduce constraints of transportation handicapped.

키워드

과제정보

This research was supported by a grant of the Korea Health Technology R&D Project through the Korea Health Industry Development Institute(KHIDI), funded by the Ministry of Health & Welfare, Republic of Korea(HJ20C0058020020) This work was supported by the National Research Foundation of Korea(NRF) grant funded by the Korea government (MSIT) (No.20180014260041001) This study was conducted under the support of Korea Evaluation Institute of Industrial Technology with the financial support of the government (South Korean Ministry of Trade, Industry and Energy) in 2021" (No.10084565, Core Technology Development Project for the Robot Industry-Robot Product Technology in the Cooperation of Governmental Departments)

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