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

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

Research output: Contribution to journalArticlepeer-review

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

Keywords

  • Autonomous Robot
  • Stair-climbing
  • Tracked Robot

ASJC Scopus subject areas

  • Software
  • Computer Science Applications
  • Artificial Intelligence

Fingerprint Dive into the research topics of 'A kinect-sensor-based tracked robot for exploring and climbing stairs'. Together they form a unique fingerprint.

Cite this