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Novel design of a small field robot with multi-active crawlers capable of autonomous stair climbing

Authors
Kim, Byeong-SangVu, Quy-HungSong, Jae-BokYim, Chung-Hyuk
Issue Date
Jan-2010
Publisher
KOREAN SOC MECHANICAL ENGINEERS
Keywords
Autonomous stair climbing; Clutch mechanism; Tracked robot; Stability analysis
Citation
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.24, no.1, pp.343 - 350
Indexed
SCIE
SCOPUS
KCI
Journal Title
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
Volume
24
Number
1
Start Page
343
End Page
350
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/117211
DOI
10.1007/s12206-009-1108-7
ISSN
1738-494X
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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