This paper proposes a methodology of climbing and descending stairs for four-wheeled vehicles. Conventional vehicles commonly use a crawler mechanism for moving on stairs. In contrast, our vehicle is based on a wheel mechanism. The stair-climbing gait (SCG) for our vehicle is proposed in another paper; however, movement with this gait requires a great deal of time. In this paper, two motions are switched between for our vehicle to climb and descend stairs. The other motion besides SCG is the double wheel motion (DWM), in which the vehicle moves on stairs using wheels with an appropriate center of gravity position and appropriate wheel velocities. The proposed methodology is realized and evaluated through an experiment.
Methodology of climbing and descending stairs for four-wheeled vehicles
2020-09-20
2919037 byte
Conference paper
Electronic Resource
English
Fall Avoidance Control of Wheeled Inverted Pendulum Type Robotic Wheelchair While Climbing Stairs
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