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

^*Tämän työn vastaava kirjoittaja

Sähkötekniikan ja automaation laitos

Tutkimustuotos: Artikkeli kirjassa/konferenssijulkaisussa › Conference article in proceedings › Scientific › vertaisarvioitu

6 Sitaatiot (Scopus)

Abstrakti

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.

Alkuperäiskieli	Englanti
Otsikko	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Sivut	1352-1357
Sivumäärä	6
DOI - pysyväislinkit	https://doi.org/10.1109/ROBIO.2010.5723526
Tila	Julkaistu - 2010
OKM-julkaisutyyppi	A4 Artikkeli konferenssijulkaisussa
Tapahtuma	IEEE International Conference on Robotics and Biomimetics - Tianjin, Kiina Kesto: 14 jouluk. 2010 → 18 jouluk. 2010

Conference

Conference	IEEE International Conference on Robotics and Biomimetics
Lyhennettä	ROBIO
Maa/Alue	Kiina
Kaupunki	Tianjin
Ajanjakso	14/12/2010 → 18/12/2010

Pääsy asiakirjaan

10.1109/ROBIO.2010.5723526

Muut tiedostot ja linkit

Link to publication in Scopus

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@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. julkaisussa 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010., 5723526, Sivut 1352-1357, IEEE International Conference on Robotics and Biomimetics, Tianjin, Kiina, 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. s. 1352-1357 5723526.

Tutkimustuotos: Artikkeli kirjassa/konferenssijulkaisussa › Conference article in proceedings › Scientific › vertaisarvioitu

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

UR - http://www.scopus.com/inward/record.url?scp=79952955786&partnerID=8YFLogxK

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

Abstrakti

Conference

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