NDLI: Autonomous Stair Climbing with Reconfigurable Tracked Mobile Robot

Content Provider	IEEE Xplore Digital Library
Author	Ben-Tzvi, P. Shingo Ito Goldenberg, A.A.
Copyright Year	2007
Description	Author affiliation: Dept. of Mech. & Ind. Eng., Toronto Univ., Toronto, ON (Ben-Tzvi, P.; Shingo Ito; Goldenberg, A.A.)
Abstract	Mobile robots have been developed for surveillance, reconnaissance and inspection as well as for operation in hazardous environments. Some are intended to explore not only natural terrains but also artificial environments, including stairs. This paper explores algorithms to autonomously climb stairs. The algorithms were derived and implemented for a specific mobile robot with the ability to traverse such obstacles by changing its tracks configuration. Furthermore, algorithms have been developed for conditions under which the mobile robot halts its motion during the climbing process when at risk of flipping over or falling down. The technical problems related to the implementation of some of these functions have been identified and analyzed, and their solutions validated and tested. The algorithms and solutions were validated experimentally, illustrating the effectiveness of autonomous climbing of stairs.
Starting Page	1
Ending Page	6
File Size	6222912
Page Count	6
File Format	PDF
ISBN	9781424415267
DOI	10.1109/ROSE.2007.4373976
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-12
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Robot sensing systems Couplings Wheels Robotics and automation Surveillance Automatic control Arm Mechanical sensors Indium tin oxide robot sensors mobile robot autonomous climbing control architecture
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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