• 제어로봇시스템학회논문지
• /
• 제9권1호
• /
• pp.73-81
• /
• 2003

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.

• 한국생산제조학회지
• /
• 제26권1호
• /
• pp.89-99
• /
• 2017

This paper describes the development of a thigh wearable robot for power assistance during stair climbing. In the wearable robot developed in this study, high-power BLDC motors and high-capacity harmonic reduction gears are used to effectively assist the thigh muscle during stair climbing. In particular, normal ground and stair are distinguished accurately by using wireless smart shoes, and the stair climbing assistance is performed by activating the actuators at an appropriate time. Impedance of the hip joint was effectively reduced by performing friction compensation of the gears, and a wearing adjustment mechanism was designed to fit the robot to the thigh by conveniently modifying the width and tilting angle of the robot using set collars. Consequently, the performance of the developed thigh wearable robot was verified through stair climbing experiments with EMG measurement.

• 전자공학회논문지B
• /
• 제32B권10호
• /
• pp.1269-1279
• /
• 1995

A mobile robot in a nuclear power plant is usually needed to equip the ability of going up and down stairs for a some kind of inspection. For this purpose, it is necessary for the mobile robot to figure out the size of stairs laid on a navigation path to gurantee robot's moving freely. In this paper, to measure the size of stairs existing in front of a mobile robot we designed the stair size recognition unit which can measure the stair's height and width using an ultrasonic sensor and/or a CCD camera. Also to obtain higher reliability of ultrasonic sensing data we proposed the horizontal sensing method. On the assupmtions that the mobile robot generates a trajectory while ascending stairs, we simulated it on a IBM compatible computer. The result showed that the suggested method satisfied our purpose. In a stair size estimation, the detected stair's height error was about .+-.3mm, and width was about .+-.5mm.

• 한국전자통신학회논문지
• /
• 제10권3호
• /
• pp.395-402
• /
• 2015

본 논문에서는 곤충형 다리 구조를 갖는 4족 로봇의 정적 계단 보행 시 계단과의 충돌 제약이 없는 효율적인 걸음새 궤적 생성 방법을 제안한다. 우선 4족 로봇의 순기구학 및 역기구학 모델을 각기 대수학적 방법과 기하학적 방법으로 유도한다. 제안한 방법에서는 보행 시작 위치에서 수직 상승 후 사인 파형의 계단 보행 궤적을 생성하고, 계단과의 충돌을 피하기 위한 보행 궤적의 계수를 설정한다. 또한 안정적인 계단 보행을 위한 걸음새 순서를 결정한다. 마지막으로, 컴퓨터 시뮬레이션을 통해 제안한 계단 보행 방법의 효용성 및 실제 적용 가능성을 검증한다.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2010년도 춘계학술대회 논문집
• /
• pp.373-374
• /
• 2010

• 한국전자통신학회논문지
• /
• 제10권9호
• /
• pp.1039-1048
• /
• 2015

본 논문에서는 곤충형 다리 구조를 갖는 4족 로봇의 효율적인 계단 보행을 위해 유전 알고리즘(Genetic Algorithm: GA)에 기반한 계단 보행 방법을 제안한다. 제안한 방법에서는 우선 계단 보행을 위한 요소와 도달 영역을 정의한다. 또한 GA 수행을 위한 유전자와 적합도 함수를 설정하고, GA를 이용하여 최소 이동 거리와 최적 에너지 안정도 여유(Energy Stability Margin: ESM)을 갖는 4족 로봇의 착지 지점을 탐색하여 걸음새 궤적을 생성한다. 마지막으로, 컴퓨터 시뮬레이션을 통해 본 논문에서 제안한 계단 보행 방법의 효용성 및 우수성을 검증한다.

• 제어로봇시스템학회논문지
• /
• 제21권7호
• /
• pp.654-661
• /
• 2015

Stairs are the most popular obstacles in buildings and factories. To enlarge the application areas of a field robotic platform, stair-climbing is very important mission. One important reason why a stair-climbing is difficult is that stairs are various in sizes. To achieve autonomous climbing of various-sized stairs, dynamic modeling is essential. In this research, an inverse dynamic modeling is performed to enable an autonomous stair climbing. Stair-climbing robotic platform with flip locomotion, named FilpBot, is analyzed. The FlipBot platform has advantages of robust stair-climbing of various sizes with constant speed, but the autonomous operation is not yet capable. Based on external constraints and the postures of the robot, inverse dynamic models are derived. The models are switched by the constraints and postures to analyze the continuous motion during stair-climbing. The constraints are changed according to the stair size, therefore the analysis results are different each other. The results of the inverse dynamic modeling are going to be used in motor design and autonomous control of the robotic platform.

• 대한의용생체공학회:의공학회지
• /
• 제17권1호
• /
• pp.1-10
• /
• 1996

In this paper, describe the automatic climbing wheelchair system use an articulated crawler mobile robot. This wheelchair system(call system) is composed of sensor detecting part and wireless communication part with PC. The sensor parts are consisted of sloping sensor and ultrasonic sensor part. The sloping sensor measures the sloping angle of system, and the ultrasonic sensor measures the distance of system's front wheel center from stair. PC will generate the operation data to climb up the stair using the measured data and make primitives for the system. At firsts This system transfer from sensor data to the PC. PC calculate the operation data to climb up the stair from the internal algorithm. We simulated the system in various stair angle slope($25^{\circ}$, $30^{\circ}$, $45^{\circ}$), and tested it on the real staircase with width 37cm, highlt 18cm, Angle $26^{\circ}$ . There were $0.350^{\circ}$ - $1.060^{\circ}$ Angle errors while climbing because adapted sensor has a precision $0.35^{\circ}$ in resolution. Finally, We implemented the sensor detecting part and the wireless communication park and practiced our system in 4cm/sec speed.

• 로봇학회논문지
• /
• 제4권4호
• /
• pp.265-272
• /
• 2009

IVarious driving mechanisms to adapt to uneven environment have been developed for many urban search and rescue (USAR) missions. A tracked mechanism has been widely used to maintain the stability of robot's pose and to produce large traction force on uneven terrain in this research area. However, it has a drawback of low energy efficiency due to friction force when rotating. Moreover, single tracked mechanism can be in trouble when the body gets caught with high projections, so the track doesn't contact on the ground. A transformable tracked mechanism is proposed to solve these problems. The mechanism is designed with several articulations surrounded by tracks, used to generate an attack angle when the robot comes near obstacles. The stair climbing ability of proposed robot was analyzed since stairs are one of the most difficult obstacles in USAR mission. Stair climbing process is divided into four separate static analysis phases. Design parameters are optimized according to geometric limitations from the static analysis. The proposed mechanism was produced from optimized design parameters, and demonstrated in artificially constructed uneven environment and the actual stairway.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2002년도 ICCAS
• /
• pp.104.3-104
• /
• 2002

A quadruped stair robot introduced here plays a role in monitoring and moving some place where an operator can not reach or when he may not keep watching. It has several features that travels and poses variable position by four caterpillars and quadruped typed arms, transmits an image and command data via RF wireless and network communication. The robot can balance itself when it moves up and down on a slope by using the quadruped mechanism. The robot vision scans ahead before it moves, and the captured image is transferred to a main computer via a RF image module. The main computer analyzes the obstacle, and when it is found the obstacle, the robot avoids from the obstacle and keep moving f...