Autonomous stair climbing algorithm for a small four-tracked robot

Quy Hung Vu, Byeong Sang Kim, Jae-Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

22 Citations (Scopus)

Abstract

In outdoor environments, mobility, adaptability and reliability of a robot are more important than its speed and precise trajectory. From a practical point of view, tracked robots have an advantage over wheeled robots in outdoor applications. The tracked robot is frequently operated by using the remote controller, but the remote operation is not effective for all cases. To overcome some complex obstacles such as rocks or stairs, the information related to the robot posture is required. However, the sensor information is not intuitive to the user to control the robot. In this research, a multi-active crawler robot (MACbot) was developed and the autonomous stair climbing algorithm was implemented to deal with those problems. Various experiments show that the MACbot can climb the stair autonomously.

Original languageEnglish
Title of host publication2008 International Conference on Control, Automation and Systems, ICCAS 2008
Pages2356-2360
Number of pages5
DOIs
Publication statusPublished - 2008 Dec 1
Event2008 International Conference on Control, Automation and Systems, ICCAS 2008 - Seoul, Korea, Republic of
Duration: 2008 Oct 142008 Oct 17

Other

Other2008 International Conference on Control, Automation and Systems, ICCAS 2008
CountryKorea, Republic of
CitySeoul
Period08/10/1408/10/17

Fingerprint

Stairs
Robots
Rocks
Trajectories
Controllers
Sensors

Keywords

  • Autonomous stair climbing
  • Stability analysis
  • Tracked robot

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Vu, Q. H., Kim, B. S., & Song, J-B. (2008). Autonomous stair climbing algorithm for a small four-tracked robot. In 2008 International Conference on Control, Automation and Systems, ICCAS 2008 (pp. 2356-2360). [4694199] https://doi.org/10.1109/ICCAS.2008.4694199

Autonomous stair climbing algorithm for a small four-tracked robot. / Vu, Quy Hung; Kim, Byeong Sang; Song, Jae-Bok.

2008 International Conference on Control, Automation and Systems, ICCAS 2008. 2008. p. 2356-2360 4694199.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Vu, QH, Kim, BS & Song, J-B 2008, Autonomous stair climbing algorithm for a small four-tracked robot. in 2008 International Conference on Control, Automation and Systems, ICCAS 2008., 4694199, pp. 2356-2360, 2008 International Conference on Control, Automation and Systems, ICCAS 2008, Seoul, Korea, Republic of, 08/10/14. https://doi.org/10.1109/ICCAS.2008.4694199
Vu QH, Kim BS, Song J-B. Autonomous stair climbing algorithm for a small four-tracked robot. In 2008 International Conference on Control, Automation and Systems, ICCAS 2008. 2008. p. 2356-2360. 4694199 https://doi.org/10.1109/ICCAS.2008.4694199
Vu, Quy Hung ; Kim, Byeong Sang ; Song, Jae-Bok. / Autonomous stair climbing algorithm for a small four-tracked robot. 2008 International Conference on Control, Automation and Systems, ICCAS 2008. 2008. pp. 2356-2360
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