Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 서태원 | - |
dc.date.accessioned | 2021-02-19T06:23:18Z | - |
dc.date.available | 2021-02-19T06:23:18Z | - |
dc.date.issued | 2019-12 | - |
dc.identifier.citation | IEEE ACCESS, v. 7, page. 173766-173773 | en_US |
dc.identifier.issn | 2169-3536 | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/8915800 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/158828 | - |
dc.description.abstract | Stairs are common obstacles in indoor environments and are difficult to overcome for robots. The speed of robot stair-climbing should be similar to that of humans for commercial products, but their speed remains limited. Additionally, the variety of dimensions of stairs is also a significant problem for robust stair-climbing by robots. In this paper, a curved spoke-based tri-wheel mechanism is proposed for fast and robust stair-climbing. The goal speed of stair-climbing is similar to the human speed for variously sized stairs. The proposed wheel system is composed of a tri-wheel mechanism with a curved spoke, wherein the dimensions of the mechanism are determined based on a kinematic analysis. Between the tri-wheels, a stopper mechanism acts to make the initial condition of the sequential stair-climbing the same as the initial starting condition. Static analysis to analyze the minimum friction coefficient is performed to verify the performance of the robot. Experiments based on the prototype are performed to verify the stair-climbing speed for variously sized stairs; the results indicate that fast and robust stair climbing performance is achieved. These findings can be used to design an indoor service robot for various applications. | en_US |
dc.description.sponsorship | This work was supported by the Basic Science Research Program through the National Research Foundation of Korea (NRF) grant funded by the Ministry of Science and ICT under Grant NRF-2019R1A2C1008163. | en_US |
dc.language.iso | en | en_US |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | en_US |
dc.subject | Stair-climbing | en_US |
dc.subject | tri-wheel | en_US |
dc.subject | indoor service robot | en_US |
dc.subject | kinematic design | en_US |
dc.subject | friction coefficient | en_US |
dc.title | Curved-Spoke Tri-Wheel Mechanism for Fast Stair-Climbing | en_US |
dc.type | Article | en_US |
dc.relation.volume | 7 | - |
dc.identifier.doi | 10.1109/ACCESS.2019.2956163 | - |
dc.relation.page | 173766-173773 | - |
dc.relation.journal | IEEE ACCESS | - |
dc.contributor.googleauthor | Kim, Youngsoo | - |
dc.contributor.googleauthor | Kim, Jongwon | - |
dc.contributor.googleauthor | Kim, Hwa Soo | - |
dc.contributor.googleauthor | Seo, Taewon | - |
dc.relation.code | 2019036307 | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DIVISION OF MECHANICAL ENGINEERING | - |
dc.identifier.pid | taewonseo | - |
dc.identifier.orcid | https://orcid.org/0000-0001-9447-7675 | - |
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