Title :
Virtual realization of automatic stair-climbing motion by leg-wheeled hybrid mobile robot
Author :
Yuan, Jianjun ; Paisley, Richard ; Song, Yongtao ; Zhang, Weijun
Author_Institution :
Res. Inst. of Robot., Shanghai Jiao Tong Univ., Shanghai, China
Abstract :
We have already researched and realized some of the automatic control motions for eight leg-wheels hybrid stair climbing mobile robot, which was developed for aged and disabled person helping them moving freely in structured environment. However, the implementation of such control algorithm has to be carefully checked before carrying person on. In this paper, we discuss the efficiency of the control algorithm for stair climbing, slope, complex steps and simple obstacles; also, examine the reliability and safety based on the virtual platform built in OpenGL.
Keywords :
electric vehicles; handicapped aids; legged locomotion; motion control; virtual reality; wheelchairs; wheels; OpenGL; automatic control motion; automatic stair climbing motion; disabled person; electric wheelchair; leg wheeled hybrid mobile robot; virtual reality; Leg; Legged locomotion; Robot kinematics; Robot sensing systems; Leg-wheeled Hybrid; Mobile Robot; OpenGL; Virtual Realization; Wheelchair;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-9319-7
DOI :
10.1109/ROBIO.2010.5723526
