A kinect-sensor-based tracked robot for exploring and climbing stairs

I. Hsum Li, Wei Yen Wang, Chien Kai Tseng

Research output: Contribution to journalArticle

10 Citations (Scopus)

Abstract

This paper focuses on the stair-climbing problem for a tracked robot. The tracked robot designed in this paper has the ability to explore stairs in an unknown indoor environment, climbing up and down the stairs, keeping balance while climbing, and successfully landing on the stair platform. Intelligent algorithms are proposed to explore and align stairs, and a fuzzy controller is introduced to stabilize the tracked robot,s movement during the exploration. An inexpensive Kinect depth sensor is the only equipment needed for all the control modes. Finally, experiments illustrate the effectiveness of the proposed approach for climbing stairs.

Original languageEnglish
Article numberA80
JournalInternational Journal of Advanced Robotic Systems
Volume11
Issue number1
DOIs
Publication statusPublished - 2014 May 21

Fingerprint

Stairs
Robots
Sensors
Landing
Controllers
Experiments

Keywords

  • Autonomous Robot
  • Stair-climbing
  • Tracked Robot

ASJC Scopus subject areas

  • Software
  • Computer Science Applications
  • Artificial Intelligence

Cite this

A kinect-sensor-based tracked robot for exploring and climbing stairs. / Li, I. Hsum; Wang, Wei Yen; Tseng, Chien Kai.

In: International Journal of Advanced Robotic Systems, Vol. 11, No. 1, A80, 21.05.2014.

Research output: Contribution to journalArticle

@article{2b3c24302d2a4e4fb47f865518799311,
title = "A kinect-sensor-based tracked robot for exploring and climbing stairs",
abstract = "This paper focuses on the stair-climbing problem for a tracked robot. The tracked robot designed in this paper has the ability to explore stairs in an unknown indoor environment, climbing up and down the stairs, keeping balance while climbing, and successfully landing on the stair platform. Intelligent algorithms are proposed to explore and align stairs, and a fuzzy controller is introduced to stabilize the tracked robot,s movement during the exploration. An inexpensive Kinect depth sensor is the only equipment needed for all the control modes. Finally, experiments illustrate the effectiveness of the proposed approach for climbing stairs.",
keywords = "Autonomous Robot, Stair-climbing, Tracked Robot",
author = "Li, {I. Hsum} and Wang, {Wei Yen} and Tseng, {Chien Kai}",
year = "2014",
month = "5",
day = "21",
doi = "10.5772/58583",
language = "English",
volume = "11",
journal = "International Journal of Advanced Robotic Systems",
issn = "1729-8806",
publisher = "Vienna University of Technology",
number = "1",

}

TY - JOUR

T1 - A kinect-sensor-based tracked robot for exploring and climbing stairs

AU - Li, I. Hsum

AU - Wang, Wei Yen

AU - Tseng, Chien Kai

PY - 2014/5/21

Y1 - 2014/5/21

N2 - This paper focuses on the stair-climbing problem for a tracked robot. The tracked robot designed in this paper has the ability to explore stairs in an unknown indoor environment, climbing up and down the stairs, keeping balance while climbing, and successfully landing on the stair platform. Intelligent algorithms are proposed to explore and align stairs, and a fuzzy controller is introduced to stabilize the tracked robot,s movement during the exploration. An inexpensive Kinect depth sensor is the only equipment needed for all the control modes. Finally, experiments illustrate the effectiveness of the proposed approach for climbing stairs.

AB - This paper focuses on the stair-climbing problem for a tracked robot. The tracked robot designed in this paper has the ability to explore stairs in an unknown indoor environment, climbing up and down the stairs, keeping balance while climbing, and successfully landing on the stair platform. Intelligent algorithms are proposed to explore and align stairs, and a fuzzy controller is introduced to stabilize the tracked robot,s movement during the exploration. An inexpensive Kinect depth sensor is the only equipment needed for all the control modes. Finally, experiments illustrate the effectiveness of the proposed approach for climbing stairs.

KW - Autonomous Robot

KW - Stair-climbing

KW - Tracked Robot

UR - http://www.scopus.com/inward/record.url?scp=84902142264&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84902142264&partnerID=8YFLogxK

U2 - 10.5772/58583

DO - 10.5772/58583

M3 - Article

AN - SCOPUS:84902142264

VL - 11

JO - International Journal of Advanced Robotic Systems

JF - International Journal of Advanced Robotic Systems

SN - 1729-8806

IS - 1

M1 - A80

ER -