Goal is to design a robot that can navigate most household stairs, while carrying a payload of at least 10 lbs. Dynamic stair climbing can cause more instability than dynamic biped walking on the ground because stair climbing requires an additional vertical motions and a large step length. Stair climbing robot for military and security applications z08062. November 1st upload includes a concept for a 6legged robot with static balance.
The robot distributes the motor torques for stable driving with little wheel slip. Robotassisted practice of gait and stair climbing in nonambulatory. There need not be heavy mechanisms for stair climbing trolley. When designing the robot, the main constraints taken into consideration are the ability to climb the stairs in addition to the optimal size and weight. Smooth ascension the graph of linear displacement in the y direction shows that the upward movement of the user is fairly linear as a result, the movement of climbing the stairs is smooth 5 0 5 10 15 20 25 30 35 40 45 50 55 60 0. It is one of the most compact stair climbing robots in the world. The robot is not only a stair climbing robot but operates in terrain where wheeled robots would operate. Shah 1, madhava krishna k 1 abstract stair climbing is a key functionality desired for robots deployed in urban search and rescue usar scenarios.
Ppt stair climbing robot powerpoint presentation free. The 3spoke wheels are made out of foam board with rubber feet which seem to have no problem supporting this robot. Schematic pdf file of complete project schematic with all components. A novel compliant modular robot was proposed earlier to climb. Fliptype robot, climbing stair, taguchi method, kinetic analysis. The video linked below highlights the robots capabilities. Design and implementation of stairclimbing robot for. Stair robot sr450 a battery powered treadmill design, the stair robot sr450 can transport loads of up to 350 kg. Quantum robotic systems qrs makes robotic stair climbing devices that allow people to carry heavy items up and down stairs in an easier, faster and safer way please have a look at rosa, our robotic stair climbing assistant, and dolle, our stair climbing moving cart, in action.
Apr 27, 2018 stair climbing trolley is an extension of general trolleys. Get rental information on stair climber 500kg track from kennards hire. May 01, 2015 the fact that the wheels are linked together keeps the spokes turning at the same rate. The stair problem a robot which moves freely in a building has to be adapted to an environment made for humans. Ieee international robotics and automation, minnesota, usa, 1418. Jan 25, 2017 this is a stair climbing robot aims to climb a stair at the fastest speed. How to make a stair climbing robot based on rocker bogie. On each side, there are two motors which lift the drive arm. With domino, you can go up and down any type of staircase easily and safely. How to design a stair climbing robot 81004 robotpark academy. Robot i developed during my masters in robotics at the university of ottawa.
The video linked below highlights the robot s capabilities. Your humoristic style is witty, keep up the good work. It can travel over any type of flooring thanks to its special. Domino automatic stair climbing trolley robot has both manual and automatic mode and 400 kg capacity.
Keywords motion planning, climbing, robotics, legged robots, highrisk access, natural terrain. The developers focused their attention on the problem of climbing stairs because its both difficult for robots and a major. Design and implementation of stairclimbing robot for rescue. Stair climbing robot work in progress 3d cad model. Designed for any kind of stairs with the stair climbing robot domino, you can go up and down any type of staircase easily and safely. Second, the robot is controlled by interfacing stairclimbing robot with pc. It is greatly demanded that to develop a kind of stably stair climbing mobile vehicle to assist the physically handicapped in moving outdoors. This paper deals with the development of a stair climbing mobile robot with legs and wheels. These trolleys are very economical as the intial and maintenance costs are low. So, i tied to make something like a jack to lift the robot, but it would get unbalanced and the robot would fall.
This robot has only four wheels and a rotating arm. Research on legwheel hybrid stairclimbing robot, zero carrier. This is a stairclimbing robot aims to climb a stair at the fastest speed. Stair climbing robot with stable platform internet archive. Stair climbing robot for military and security applications. Carrying objects on stable platform is useful as a popular application. It moves on special nonmarking rubber tracks allowing the operator to move on basically any kind of indoor or outdoor surface. May 22, 2018 heriotwatt eps mechanical engineering, stair climbing robot shrimp 2011 autonomous motor controlled stair climbing robot mechanism rocker bogie mechanism concept, stair climbing robot. Stair climbing wheelchair powerpoint linkedin slideshare. Hard to make a rover type robot to actually climb them. The developed legwheeled mobile robot, which is a type of mechanism to b. Design of an advanced wireless controlled stair climbing robot abstract.
Nowadays, remote manipulation of a climbing robot by a human operator becomes essential for hazard environment. A bioinspired implementation of walking and stair climbing on a. Design, analysis and fabrication of a reconfigurable. Dynamics and stability analysis on stairs climbing of wheeltrack. For an overview of the stair robot product line you can download our brochures, available in. Devices such as hand trolleys are used to relieve the stress of lifting while on flat ground. Soft landing condition for stair climbing robot with hopping. Design, analysis and fabrication of a reconfigurable stair. Capstone project on stair climbing robot core mechanical.
It can move along any surface be it sand, rocks, concrete, or grass as it has suspension arrangments. An online stairclimbing control method for a transformable tracked robot. Quantum robotic systems stairclimbing robots and carts. From the climbing demonstrations in the second video, it looks like that helps it climb well. These days, various mobile robots are being developed and researched in a number of fields. Realization of dynamic stair climbing for biped humanoid. Mobility is an essential element of the mobile robots. Finally, rf module is used to control the robot wireless. The robot can climb onto any obstacles stairs, bumps, etc. With this it can stand up on its own, balance on two wheels. If the robot is designed optimally, it can be controlled with efficient motor torque and traction forces. In this playlist you can watch stair climbing robots in many different types. Someone has done something similar before, except with a tracked chassis. It is one of the most compact stairclimbing robots in the world.
The developers focused their attention on the problem of climbing stairs because its both difficult for robots and a. Quantum robotic systems qrs makes robotic stairclimbing devices that allow people to carry heavy items up and down stairs in an easier, faster and safer way please have a look at rosa, our robotic stairclimbing assistant, and dolle, our stairclimbing moving cart, in action. Hello,i log on to your new stuff named lego mindstorms ev3 education expansion set 45560 instructions robotsquare like every week. This article represents the mechanism of how will robot climb the stairs carrying load. The domino stair climbing robot features an amazing automatic levelling mode. The robot can climb up stairs and obstacle comparable to stair upto certain height and width depending on the dimensions of the bot. These stairs often have nosings or ledges and sometimes open risers. Meet the stair bear, an adorable climbing robot make. Stair climbing trolley is an extension of general trolleys. Design of an advanced wireless controlled stair climbing robot. Pdf download for development of a stairclimbing robot using. In this paper a tracked stair climbing robot will be developed. Bluetooth based stair climbing robot control using cell phone. Development of a stairclimbing mobile robot with legs and.
The robots compete onebyone and the robot that has most stairs climbed up and down in the shortest time wins the competition. Until recent years, the stair climbing robots are designed with vast hardware and robots are equipped with. The robot has two wheels in the front of the body to support its weight when it moves on flat terrain, and it also has arms between the wheels to hook onto the. The advent of new highspeed technology and the growing computer capacity provided realistic opportunity for new robot controls and realization of new methods of control theory. Stair climbing the robots competing in this category aims to climb a stairway with a continuously increasing height of steps.
Second, the robot is controlled by interfacing stair climbing robot with pc. Robot assisted practice of gait and stair climbing in nonambulatory. This paper presents the design and implementation of a remote controlled stair climbing robot with stable platform. Stair climbing robot 1 stair climbing robot team 7 senior design project dalhousie university dept. The slope of indoor stairs can vary between 25 and 42. The paper presents a complete integrated control architecture and communication strategy for a system of reconfigurable robots that can climb stairs. In this paper we have developed a quadruped robot capable of detecting, analyzing and climbing stairs of a fixed height with the help of ultrasonic distance. How to design a stair climbing robot 81004 robotpark.
The fact that the wheels are linked together keeps the spokes turning at the same rate. Stair climbing robot with manual or automatic mode safe and stable. Optimal design of a stairclimbing mobile robot with flip mechanism. Aug 18, 2017 home posts technology vehicles how to make a stair climbing robot. The framework is instantiated to compute climbing motions of a threelimbed robot in vertical natural terrain. Motion planning of biped robot climbing stairs ruixiang zhang and prahlad vadakkepat department of electrical and computer engineering, national university of singapore 4 engineering drive 3, singapore, 117576 email.
Design and fabrication of stair climber trolley abstract this project aims at developing a mechanism for easy transportation of heavy loads over stairs. The upper body has a mechanism for reeling the wire, a cpu for control, and a battery, and the lower body has. Abstract this paper presents a general framework for planning the quasistatic motion of climbing robots. To help the robot get on to a step, i am planning to use a servo powered u shaped piece attached on the rear which will lift up the robots rear side while the front is climbing on to a step. Awesome stair climbing robot conquers obstacles with tank treads. On its way it may encounter small obstacles up to 4 cm of hight, e. It is a self balancing machine, therefore there is no need for the operator. The robot can be controlled using any smart cell phone through bluetooth. These are used to transport loads on stairs and uneven surfaces like holes, speed breakers.
How to make a stair climbing robot rocker bogie jugad. Stair climbing robot prize winner at health and safety show london 2016 safe and stable. The robot consists of upper and lower bodies bodies 1 and 2 connected by four shafts, four springs, and a wire. May 29, 20 the stair problem a robot which moves freely in a building has to be adapted to an environment made for humans. When engaged, the domino stair climbing robot automatically adjusts the tilted load angle, making transport of goods easier, quicker but most importantly safe. Design and fabrication of stair climber trolley mechanical.
Doc report on stair climbing trolley vishal parmar. Development of a stairclimbing robot using springs and planetary. Awesome stairclimbing robot conquers obstacles with tank. Pdf design and implementation of stairclimbing robot for. To help the robot get on to a step, i am planning to use a servo powered u shaped piece attached on the rear which will lift up the robot s rear side while the front is climbing on to a step. With this it can stand up on its own, balance on two. This paper deals with the development of a stairclimbing mobile robot with legs and wheels. The need for such a system arises from daytoday requirements in our society. When the robot encounters a stair, with its touch sensor, the robot. This port consists of two wires to transfer data one for each direction and a number of signal wires.
This allows an operator to drive the unit via joystick with minimal effort. The robot has two wheels in the front of the body to support its weight when it moves on flat terrain, and it also has arms between the wheels to hook onto the tread of stairs. I used an arduino uno attached via an arduino channel snap mount and a ble shield to add bluetooth capability. It is meant to show how a very simple design can make a very functional robot. The basic architecture is here, but the robot needs wheels on the feet, fasteners for leglifting modules, and better support for the igus linear bearings. Robot applications include military and security robots. Stair climbing using a compliant modular robot sri harsha turlapati 1, mihir shah, s phani teja, avinash siravuru 2, suril v. Stair climbing robot works on the concept of the rockerbogie mechanism. Home posts technology vehicles how to make a stair climbing robot. Fitted with an extendable frame attachment, objects that are longer than 188 cm, can be moved securely. The main technical issues in developing this type of robot are the stability and speed of the robot while climbing stairs. Heriotwatt eps mechanical engineering, stair climbing robot shrimp 2011 autonomous motor controlled stair climbing robot mechanism rocker bogie mechanism concept, stair climbing robot. The arduino is powered from a 9v battery in a battery holder with a switch which i ziptied in place to keep it from sliding around the ble shield. Climbing robots in natural terrain artificial intelligence.
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