| 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 | en |
| ISSN | |
| 期刊性質 | 國外 |
| 收錄於 | SCI |
| 產學合作 | |
| 通訊作者 | |
| 審稿制度 | 是 |
| 國別 | USA |
| 公開徵稿 | |
| 出版型式 | ,電子版 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/115927 ) |
| SDGS | 產業創新與基礎設施 |
GoogleAnalytics