Kinematic Optimal Design on a New Robotic Platform for Stair Climbing
Stair climbing is one of critical issues for field robots to
widen applicable areas. This paper presents optimal design on
kinematic parameters of a new robotic platform for stair climbing. The
robotic platform climbs various stairs by body flip locomotion with
caterpillar type main platform. Kinematic parameters such as platform
length, platform height, and caterpillar rotation speed are optimized to
maximize stair climbing stability. Three types of stairs are used to
simulate typical user conditions. The optimal design process is
conducted based on Taguchi methodology, and resulting parameters
with optimized objective function are presented. In near future, a
prototype is assembled for real environment testing.
[1] J.I. Lee, S.Y. Lee, S.J. Yu, S.H. Lee, and C.S. Han, "Intuitive OCU
(OperatorControl Unit) of field robot for installing construction
materials," Korean Society of Precision Engineering, 2007 Spring
Conference, pp. 81-82.
[2] T. Seo and M. Sitti, "Tank-Like Module-Based Climbing Robot Using
Passive Compliant Joints," IEEE/ASME Transaction on Mechatronics, In
Press, 2012.
[3] D. Lee, T. Seo and J. Kim, "Optimal Design and Workspace Analysis of a
Mobile Welding Robot with 3P3R Serial Manipulator," Robotics and
Autonomous Systems, Vol. 59, No. 10, pp. 813-826, 2011
[4] http://news.kbs.co.kr/tvnews/news9/2011/12/29/2411945.html/, KBS
News 9 (Dec. 29, 2011). (retrieved at Feb. 15, 2012)
[5] G. Lee, K. Seo, H. Kim, S.H. Kim, D.S. Jeon, H.S. Kim, and H. Kim,
"Design of a transformable track mechanism for wall climbing robots,"
Journal of Korean Society of Precision Engineering, Vol. 29, No. 2, pp.
129-244, 2012.
[6] http://www.icra2011.org/show.asp?id=12, Special Forum: Preliminary
Report on the Disaster and Robotics in Japan, 2011 IEEE Int-l Conf. on
Rob. and Auto., Shanghai, China. (retrieved at Feb. 15, 2012
[7] K.S. Jeon, O. Kwon, and J.H. Park, "Trajectory optimization for biped
robots walking up-and-down stairs based on genetic algorithms," Journal
of Korean Society of Precision Engineering, Vol. 23, No. 4, pp. 75-82,
2006.
[8] D. Kim, H. Hong, H.S. Kim, and J. Kim, "Optimal design and kinetic
analysis of a stair-climbing mobile robot with rocker-bogie mechanism,"
Mechanism and Machine Theory, Vol. 50, pp. 90-108, 2012
[9] http://www.irobot.com/, iRobot Coorperation, (retrieved at Feb. 15,
2012)
[10] J. Kim, Engineering Design: Creative New Product Development,
Moonundang, 2008
[11] T. Seo and B. Seo, Robots for stairs climbing, Korean patent, application
number 10-2012-0043572, 2012
[12] http://likms.assembly.go.kr/law/jsp/Law.jsp?WORK_TYPE=LAW_BO
N&LAW_ID=B2766&PROM_NO=22626&PROM_DT=20110117&Ha
nChk=Y, The National Assembly of the Republic of Korea (retrieved at
Feb. 15, 2012 )
[1] J.I. Lee, S.Y. Lee, S.J. Yu, S.H. Lee, and C.S. Han, "Intuitive OCU
(OperatorControl Unit) of field robot for installing construction
materials," Korean Society of Precision Engineering, 2007 Spring
Conference, pp. 81-82.
[2] T. Seo and M. Sitti, "Tank-Like Module-Based Climbing Robot Using
Passive Compliant Joints," IEEE/ASME Transaction on Mechatronics, In
Press, 2012.
[3] D. Lee, T. Seo and J. Kim, "Optimal Design and Workspace Analysis of a
Mobile Welding Robot with 3P3R Serial Manipulator," Robotics and
Autonomous Systems, Vol. 59, No. 10, pp. 813-826, 2011
[4] http://news.kbs.co.kr/tvnews/news9/2011/12/29/2411945.html/, KBS
News 9 (Dec. 29, 2011). (retrieved at Feb. 15, 2012)
[5] G. Lee, K. Seo, H. Kim, S.H. Kim, D.S. Jeon, H.S. Kim, and H. Kim,
"Design of a transformable track mechanism for wall climbing robots,"
Journal of Korean Society of Precision Engineering, Vol. 29, No. 2, pp.
129-244, 2012.
[6] http://www.icra2011.org/show.asp?id=12, Special Forum: Preliminary
Report on the Disaster and Robotics in Japan, 2011 IEEE Int-l Conf. on
Rob. and Auto., Shanghai, China. (retrieved at Feb. 15, 2012
[7] K.S. Jeon, O. Kwon, and J.H. Park, "Trajectory optimization for biped
robots walking up-and-down stairs based on genetic algorithms," Journal
of Korean Society of Precision Engineering, Vol. 23, No. 4, pp. 75-82,
2006.
[8] D. Kim, H. Hong, H.S. Kim, and J. Kim, "Optimal design and kinetic
analysis of a stair-climbing mobile robot with rocker-bogie mechanism,"
Mechanism and Machine Theory, Vol. 50, pp. 90-108, 2012
[9] http://www.irobot.com/, iRobot Coorperation, (retrieved at Feb. 15,
2012)
[10] J. Kim, Engineering Design: Creative New Product Development,
Moonundang, 2008
[11] T. Seo and B. Seo, Robots for stairs climbing, Korean patent, application
number 10-2012-0043572, 2012
[12] http://likms.assembly.go.kr/law/jsp/Law.jsp?WORK_TYPE=LAW_BO
N&LAW_ID=B2766&PROM_NO=22626&PROM_DT=20110117&Ha
nChk=Y, The National Assembly of the Republic of Korea (retrieved at
Feb. 15, 2012 )
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:55062", author = "Byung Hoon Seo and Hyun Gyu Kim and Tae Won Seo", title = "Kinematic Optimal Design on a New Robotic Platform for Stair Climbing", abstract = "Stair climbing is one of critical issues for field robots to
widen applicable areas. This paper presents optimal design on
kinematic parameters of a new robotic platform for stair climbing. The
robotic platform climbs various stairs by body flip locomotion with
caterpillar type main platform. Kinematic parameters such as platform
length, platform height, and caterpillar rotation speed are optimized to
maximize stair climbing stability. Three types of stairs are used to
simulate typical user conditions. The optimal design process is
conducted based on Taguchi methodology, and resulting parameters
with optimized objective function are presented. In near future, a
prototype is assembled for real environment testing.", keywords = "Stair climbing robot, Optimal design, Taguchi
methodology, Caterpillar, Kinematic parameters.", volume = "7", number = "2", pages = "234-6", }