Zero Carrier: A Novel Eight Leg-Wheels Hybrid Stair Climbing Mobile Vehicle-Reference-Cited by-同舟云学术

Zero Carrier: A Novel Eight Leg-Wheels Hybrid Stair Climbing Mobile Vehicle

Published:2005-02-20 Issue:1 Volume:17 Page:44-51
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Yuan Jianjun, ,Hirose Shigeo

Abstract

In this paper, we first introduce the proposal of this leg-wheel hybrid stair climbing mobile vehicle, “Zero Carrier,” which consists of eight independent prismatic-joint legs, four active wheels, and four passive casters. Zero Carrier can perform safe and stable three-dimensional motion. After making a short description of its simplified and unified leg mechanism and its control system, we discuss the control method and its automatic moving sequence on stairs or obstacles using distance sensors, proximity sensors, and electric current sensors, then verify its performance based on some experiments. Its lightweight, compactness, economy, and high stability on stair climbing motion are expected to gain Zero Carrier wide use in complex environment such as hospitals, schools, and stations.

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

Reference8 articles.

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5. J. Yuan, and S. Hirose, “Research on leg-wheel hybrid stairclimbing robot, Zero Carrier,” Proc. of IEEE Int. Conf. on Robotics and Biomimetics, pp. 620-625, 2004.

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