Stair-climbing gait for a four-wheeled vehicle

ROBOMECH Journal

article

Shuro Nakajima¹ 

[1] Faculty of Systems Engineering, Wakayama University

关键词: Climbing stairs;    Powered wheelchair;    Four-wheeled vehicle;    Personal mobility vehicle;   

DOI  :  10.1186/s40648-020-00168-z

学科分类：社会科学、人文和艺术（综合）

来源: Springer

【 摘 要 】

This paper proposes a stair-climbing gait for a four-wheeled vehicle. The idea and methodology of climbing stairs are described, and the results of experiments are shown. Crawler-type vehicles and vehicles with special, complicated mechanisms are commonly used for climbing continuous steps (stairs). In contrast, in this paper, a four-wheeled vehicle with additional degrees of freedom, whose mechanism is not as complicated, is discussed. A gait algorithm based on a pace gait is proposed, and its performance is evaluated.

【 授权许可】

CC BY