机构:
Wakayama Univ, Fac Syst Engn, 930 Sakaedani, Wakayama 6408510, JapanWakayama Univ, Fac Syst Engn, 930 Sakaedani, Wakayama 6408510, Japan
Nakajima, Shuro
[1
]
机构:
[1] Wakayama Univ, Fac Syst Engn, 930 Sakaedani, Wakayama 6408510, Japan
来源:
ROBOMECH JOURNAL
|
2020年
/
7卷
/
01期
关键词:
Climbing stairs;
Powered wheelchair;
Four-wheeled vehicle;
Personal mobility vehicle;
RT-MOVER;
D O I:
10.1186/s40648-020-00168-z
中图分类号:
TH7 [仪器、仪表];
学科分类号:
0804 ;
080401 ;
081102 ;
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.
机构:
Univ Pittsburgh, Dept Rehabil Sci & Technol, Pittsburgh, PA 15238 USA
Dept Vet Affairs Pittsburgh Healthcare Syst, Human Engn Res Labs, Pittsburgh, PA USAUniv Pittsburgh, Dept Rehabil Sci & Technol, Pittsburgh, PA 15238 USA
Simpson, Richard C.
LoPresti, Edmund F.
论文数: 0引用数: 0
h-index: 0
机构:
AT Sci, Pittsburgh, PA USAUniv Pittsburgh, Dept Rehabil Sci & Technol, Pittsburgh, PA 15238 USA
LoPresti, Edmund F.
Cooper, Rory A.
论文数: 0引用数: 0
h-index: 0
机构:
Univ Pittsburgh, Dept Rehabil Sci & Technol, Pittsburgh, PA 15238 USA
Dept Vet Affairs Pittsburgh Healthcare Syst, Human Engn Res Labs, Pittsburgh, PA USAUniv Pittsburgh, Dept Rehabil Sci & Technol, Pittsburgh, PA 15238 USA
机构:
Tokyo Inst Technol, Dept Mechanoaerosp Engn, Meguro Ku, 2-12-1 Ookayama, Tokyo 1528522, JapanTokyo Inst Technol, Dept Mechanoaerosp Engn, Meguro Ku, 2-12-1 Ookayama, Tokyo 1528522, Japan
Takahashi, Masashi
Yoneda, Kan
论文数: 0引用数: 0
h-index: 0
机构:
Tokyo Inst Technol, Dept Mechanoaerosp Engn, Meguro Ku, 2-12-1 Ookayama, Tokyo 1528522, JapanTokyo Inst Technol, Dept Mechanoaerosp Engn, Meguro Ku, 2-12-1 Ookayama, Tokyo 1528522, Japan
Yoneda, Kan
Hirose, Shigeo
论文数: 0引用数: 0
h-index: 0
机构:
Tokyo Inst Technol, Dept Mechanoaerosp Engn, Meguro Ku, 2-12-1 Ookayama, Tokyo 1528522, JapanTokyo Inst Technol, Dept Mechanoaerosp Engn, Meguro Ku, 2-12-1 Ookayama, Tokyo 1528522, Japan
Hirose, Shigeo
[J].
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10,
2006,
: 1090
-
1095
机构:
Univ Pittsburgh, Dept Rehabil Sci & Technol, Pittsburgh, PA 15238 USA
Dept Vet Affairs Pittsburgh Healthcare Syst, Human Engn Res Labs, Pittsburgh, PA USAUniv Pittsburgh, Dept Rehabil Sci & Technol, Pittsburgh, PA 15238 USA
Simpson, Richard C.
LoPresti, Edmund F.
论文数: 0引用数: 0
h-index: 0
机构:
AT Sci, Pittsburgh, PA USAUniv Pittsburgh, Dept Rehabil Sci & Technol, Pittsburgh, PA 15238 USA
LoPresti, Edmund F.
Cooper, Rory A.
论文数: 0引用数: 0
h-index: 0
机构:
Univ Pittsburgh, Dept Rehabil Sci & Technol, Pittsburgh, PA 15238 USA
Dept Vet Affairs Pittsburgh Healthcare Syst, Human Engn Res Labs, Pittsburgh, PA USAUniv Pittsburgh, Dept Rehabil Sci & Technol, Pittsburgh, PA 15238 USA
机构:
Tokyo Inst Technol, Dept Mechanoaerosp Engn, Meguro Ku, 2-12-1 Ookayama, Tokyo 1528522, JapanTokyo Inst Technol, Dept Mechanoaerosp Engn, Meguro Ku, 2-12-1 Ookayama, Tokyo 1528522, Japan
Takahashi, Masashi
Yoneda, Kan
论文数: 0引用数: 0
h-index: 0
机构:
Tokyo Inst Technol, Dept Mechanoaerosp Engn, Meguro Ku, 2-12-1 Ookayama, Tokyo 1528522, JapanTokyo Inst Technol, Dept Mechanoaerosp Engn, Meguro Ku, 2-12-1 Ookayama, Tokyo 1528522, Japan
Yoneda, Kan
Hirose, Shigeo
论文数: 0引用数: 0
h-index: 0
机构:
Tokyo Inst Technol, Dept Mechanoaerosp Engn, Meguro Ku, 2-12-1 Ookayama, Tokyo 1528522, JapanTokyo Inst Technol, Dept Mechanoaerosp Engn, Meguro Ku, 2-12-1 Ookayama, Tokyo 1528522, Japan
Hirose, Shigeo
[J].
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10,
2006,
: 1090
-
1095