Volume 26 Issue 5
Sep.  2004
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HAN Guang, WANG Tian-miao, LIANG Jian-hong, ZHAO Jian-chang. A Modularized Reconfigurable Pedrail Structure for Effective Stair Climbing[J]. ROBOT, 2004, 26(5): 400-403.
Citation: HAN Guang, WANG Tian-miao, LIANG Jian-hong, ZHAO Jian-chang. A Modularized Reconfigurable Pedrail Structure for Effective Stair Climbing[J]. ROBOT, 2004, 26(5): 400-403.
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A Modularized Reconfigurable Pedrail Structure for Effective Stair Climbing

  • 1.

    Robotics Institute of Beihang University, Beijing 100083, China

  • 2.

    China Metallurgic Equipment CO.LTD, Beijing 100016, China

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  • Received Date: November 16, 2003
  • Published Date: September 14, 2004
    Graphical Abstract
    • Abstract
  • A modularized reconfigurable pedrail is designed for movable surveillance and unstructured environment of buildings. The robot can climb stairs by being recomposed to a little bulk(each module is 30cm long, 11.5cm wide and 11cm high). The principle for the tracked robot to climb stairs is analyzed in this paper and its moving ability and adaptability for various landforms is also proved by experiments.
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    • References (4)
  • [1]
    Koyachi N, Adachi H. Stair-climbing control of self-contained hexapod with semi-fixed gait[J]. Advanced Robotics, 1991,5(1):747-752.
    [2]
    Helmick D M. Multi senaor, high speed autonomous stair climbing[A]. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems [C]. Switzerland:IEEE, 2002, vol.1. 733-742.
    [3]
    Moore E Z. Reliable stair climbing in the simple hexapod RHex[A].Proceedings of the IEEE International Conference on Robotics and Automation[C]. USA:IEEE, 2002,vol. 3. 2222-2227.
    [4]
    Lawn M J. Modeling of a stair-climbing wheelchair mechanism with high single-step capability [J]. Neural Systems and Rehabilitation Engineering, 2003,11(3):323-332.
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