Virtual realization of automatic stair-climbing motion by leg-wheeled hybrid mobile robot

Jianjun Yuan; Richard Paisley; Yongtao Song; Weijun Zhang

doi:10.1109/ROBIO.2010.5723526

Virtual realization of automatic stair-climbing motion by leg-wheeled hybrid mobile robot

Jianjun Yuan^*, Richard Paisley, Yongtao Song, Weijun Zhang

^*Corresponding author for this work

Department of Electrical Engineering and Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

6 Citations (Scopus)

Abstract

We have already researched and realized some of the automatic control motions for eight leg-wheels hybrid stair climbing mobile robot, which was developed for aged and disabled person helping them moving freely in structured environment. However, the implementation of such control algorithm has to be carefully checked before carrying person on. In this paper, we discuss the efficiency of the control algorithm for stair climbing, slope, complex steps and simple obstacles; also, examine the reliability and safety based on the virtual platform built in OpenGL.

Original language	English
Title of host publication	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Pages	1352-1357
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2010.5723526
Publication status	Published - 2010
MoE publication type	A4 Conference publication
Event	IEEE International Conference on Robotics and Biomimetics - Tianjin, China Duration: 14 Dec 2010 → 18 Dec 2010

Conference

Conference	IEEE International Conference on Robotics and Biomimetics
Abbreviated title	ROBIO
Country/Territory	China
City	Tianjin
Period	14/12/2010 → 18/12/2010

Keywords

Leg-wheeled hybrid
Mobile robot
OpenGL
Virtual realization
Wheelchair

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10.1109/ROBIO.2010.5723526

Cite this

@inproceedings{e2581dfdae774532bc4ea508859fa68d,

title = "Virtual realization of automatic stair-climbing motion by leg-wheeled hybrid mobile robot",

abstract = "We have already researched and realized some of the automatic control motions for eight leg-wheels hybrid stair climbing mobile robot, which was developed for aged and disabled person helping them moving freely in structured environment. However, the implementation of such control algorithm has to be carefully checked before carrying person on. In this paper, we discuss the efficiency of the control algorithm for stair climbing, slope, complex steps and simple obstacles; also, examine the reliability and safety based on the virtual platform built in OpenGL.",

keywords = "Leg-wheeled hybrid, Mobile robot, OpenGL, Virtual realization, Wheelchair",

author = "Jianjun Yuan and Richard Paisley and Yongtao Song and Weijun Zhang",

year = "2010",

doi = "10.1109/ROBIO.2010.5723526",

language = "English",

isbn = "9781424493173",

pages = "1352--1357",

booktitle = "2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010",

note = "IEEE International Conference on Robotics and Biomimetics, ROBIO ; Conference date: 14-12-2010 Through 18-12-2010",

}

Yuan, J, Paisley, R, Song, Y & Zhang, W 2010, Virtual realization of automatic stair-climbing motion by leg-wheeled hybrid mobile robot. in 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010., 5723526, pp. 1352-1357, IEEE International Conference on Robotics and Biomimetics, Tianjin, China, 14/12/2010. https://doi.org/10.1109/ROBIO.2010.5723526

Virtual realization of automatic stair-climbing motion by leg-wheeled hybrid mobile robot. / Yuan, Jianjun; Paisley, Richard; Song, Yongtao et al.
2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010. 2010. p. 1352-1357 5723526.

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

TY - GEN

T1 - Virtual realization of automatic stair-climbing motion by leg-wheeled hybrid mobile robot

AU - Yuan, Jianjun

AU - Paisley, Richard

AU - Song, Yongtao

AU - Zhang, Weijun

PY - 2010

Y1 - 2010

N2 - We have already researched and realized some of the automatic control motions for eight leg-wheels hybrid stair climbing mobile robot, which was developed for aged and disabled person helping them moving freely in structured environment. However, the implementation of such control algorithm has to be carefully checked before carrying person on. In this paper, we discuss the efficiency of the control algorithm for stair climbing, slope, complex steps and simple obstacles; also, examine the reliability and safety based on the virtual platform built in OpenGL.

AB - We have already researched and realized some of the automatic control motions for eight leg-wheels hybrid stair climbing mobile robot, which was developed for aged and disabled person helping them moving freely in structured environment. However, the implementation of such control algorithm has to be carefully checked before carrying person on. In this paper, we discuss the efficiency of the control algorithm for stair climbing, slope, complex steps and simple obstacles; also, examine the reliability and safety based on the virtual platform built in OpenGL.

KW - Leg-wheeled hybrid

KW - Mobile robot

KW - OpenGL

KW - Virtual realization

KW - Wheelchair

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U2 - 10.1109/ROBIO.2010.5723526

DO - 10.1109/ROBIO.2010.5723526

M3 - Conference article in proceedings

AN - SCOPUS:79952955786

SN - 9781424493173

SP - 1352

EP - 1357

BT - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010

T2 - IEEE International Conference on Robotics and Biomimetics

Y2 - 14 December 2010 through 18 December 2010

ER -

Virtual realization of automatic stair-climbing motion by leg-wheeled hybrid mobile robot

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Keywords

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