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http://dx.doi.org/10.7471/ikeee.2021.25.2.362

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)
Publication Information
Journal of IKEEE / v.25, no.2, 2021 , pp. 362-370 More about this Journal
Abstract
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.
Keywords
Embedded System; Stair-Climbing Robots; Wheelchair; State Machine; Environment Detection;
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