期刊論文

標題 A Kinect-sensor-based Tracked Robot for Exploring and Climbing Stairs
學年 102
學期 1
出版(發表)日期 2014/01/01
作品名稱 A Kinect-sensor-based Tracked Robot for Exploring and Climbing Stairs
作品名稱(其他語言)
著者 I.H. Li; W.Y. Wang; C.K. Tseng
單位
出版者
著錄名稱、卷期、頁數 International Journal of Advanced Robotic Systems 11, p.1-11
摘要 This paper focuses on the stair-climbing problem for a tracked robot. The tracked robot designed in this paper has the ability to explore stairs in an unknown indoor environment, climbing up and down the stairs, keeping balance while climbing, and successfully landing on the stair platform. Intelligent algorithms are proposed to explore and align stairs, and a fuzzy controller is introduced to stabilize the tracked robot's movement during the exploration. An inexpensive Kinect depth sensor is the only equipment needed for all the control modes. Finally, experiments illustrate the effectiveness of the proposed approach for climbing stairs.
關鍵字 Tracked Robot;Stair-climbing;Autonomous Robot
語言 英文
ISSN
期刊性質 國外
收錄於 SCI;
產學合作
通訊作者
審稿制度
國別 美國
公開徵稿
出版型式 ,電子版