Novel design of a small field robot with multi-active crawlers capable of autonomous stair climbing
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Byeong-Sang | - |
dc.contributor.author | Vu, Quy-Hung | - |
dc.contributor.author | Song, Jae-Bok | - |
dc.contributor.author | Yim, Chung-Hyuk | - |
dc.date.accessioned | 2021-09-08T05:57:09Z | - |
dc.date.available | 2021-09-08T05:57:09Z | - |
dc.date.created | 2021-06-11 | - |
dc.date.issued | 2010-01 | - |
dc.identifier.issn | 1738-494X | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/117211 | - |
dc.description.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. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | KOREAN SOC MECHANICAL ENGINEERS | - |
dc.subject | MOBILE ROBOT | - |
dc.subject | MECHANISM | - |
dc.title | Novel design of a small field robot with multi-active crawlers capable of autonomous stair climbing | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Song, Jae-Bok | - |
dc.identifier.doi | 10.1007/s12206-009-1108-7 | - |
dc.identifier.scopusid | 2-s2.0-77949619119 | - |
dc.identifier.wosid | 000273828400074 | - |
dc.identifier.bibliographicCitation | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.24, no.1, pp.343 - 350 | - |
dc.relation.isPartOf | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | - |
dc.citation.title | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | - |
dc.citation.volume | 24 | - |
dc.citation.number | 1 | - |
dc.citation.startPage | 343 | - |
dc.citation.endPage | 350 | - |
dc.type.rims | ART | - |
dc.type.docType | Article; Proceedings Paper | - |
dc.identifier.kciid | ART001413816 | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.subject.keywordPlus | MOBILE ROBOT | - |
dc.subject.keywordPlus | MECHANISM | - |
dc.subject.keywordAuthor | Autonomous stair climbing | - |
dc.subject.keywordAuthor | Clutch mechanism | - |
dc.subject.keywordAuthor | Tracked robot | - |
dc.subject.keywordAuthor | Stability analysis | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
(02841) 서울특별시 성북구 안암로 14502-3290-1114
COPYRIGHT © 2021 Korea University. All Rights Reserved.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.