Stair Climbing of a Track-Driven Mobile Robot with Flipper Arm

Abstract:

On both natural and manmade terrains, the maneuverability of mobile robots has been improving. Nevertheless, stair climbing remains a challenging functionality for mobile robots. In this paper, a step-by-step stair climbing approach is proposed for a track-driven mobile robot equipped with flipper arms. The flipper arms are actuated by DC motors controlled by PID controller. Potentiometers and rotary encoders are used to provide closed loop feedbacks. Executable codes are generated using Real-Time Workshop of MATLAB/Simulink. The reference angles to be followed by the flipper arm in stair climbing are emulated and verified by real time experiments.

• Periodical: Applied Mechanics and Materials (Volume 393)
• Pages: 586-591
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.393.586
• Online since: September 2013
• Authors: Khairul Azmi Mahadhir, Cheng Yee Low, Hizzul Hamli, Ahmed Jaffar, Elwan Salleh, M. Saiful Bahari
• Keywords: Control Strategy, Real-Time Experiment, Stair Climbing Robot, Track-Driven Robot

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