Novel design of a small field robot with multi-active crawlers capable of autonomous stair climbing |
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Authors: | Byeong-Sang Kim Quy-Hung Vu Jae-Bok Song Chung-Hyuk Yim |
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Affiliation: | 1.School of Mechanical Engineering,Korea University,Seoul,Korea;2.School of Mechanical Design & Automation Engineering,Seoul National University of Technology,Seoul,Korea |
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Abstract: | 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. |
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