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Towards a Stair Climbing Robot System Based on a Re-configurable Linkage Mechanism

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Intelligent Autonomous Systems 15 (IAS 2018)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 867))

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Abstract

This paper contributes to a mechanical/kinematical design of a stair climbing robot. Based on the known Klann-mechanism, an extended re-configurable mechanism is proposed, in order to address the stair climbing problem. Steps offer a great variety of occurrences, since they differ in height, width or step length. Regarding staircases the variety is even higher since they differ in the number of steps per level, the size of the platform, the orientation etc. Due to these variations the concept proposes a re-configurable design, which is tested in simulation and in a real physical setup.

M. Strand—This work was supported Baden-Wuerttemberg Cooperative State University Karlsruhe.

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Author information

Authors and Affiliations

  1. EMS (Engineering and Material Sciences), Mechatronics Department, German University in Cairo, New Cairo, Egypt

    Omar El-Farouk E. Labib, Sarah W. El-Safty & Silvan Mueller

  2. Baden-Wuerttemberg Cooperative State University Karlsruhe, Karlsruhe, Germany

    Silvan Mueller, Thomas Haalboom & Marcus Strand

Authors
  1. Omar El-Farouk E. Labib
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  2. Sarah W. El-Safty
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  3. Silvan Mueller
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  4. Thomas Haalboom
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  5. Marcus Strand
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Corresponding author

Correspondence to Marcus Strand .

Editor information

Editors and Affiliations

  1. Baden-Wuerttemberg Cooperative State University, Karlsruhe, Germany

    Marcus Strand

  2. Humanoids and Intelligence Systems Lab, KIT - Karlsruher Institut für Technologie, Karlsruhe, Germany

    Rüdiger Dillmann

  3. University of Padua , Padua, Italy

    Emanuele Menegatti

  4. University of Padua, Padua, Italy

    Stefano Ghidoni

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Labib, O.EF.E., El-Safty, S.W., Mueller, S., Haalboom, T., Strand, M. (2019). Towards a Stair Climbing Robot System Based on a Re-configurable Linkage Mechanism. In: Strand, M., Dillmann, R., Menegatti, E., Ghidoni, S. (eds) Intelligent Autonomous Systems 15. IAS 2018. Advances in Intelligent Systems and Computing, vol 867. Springer, Cham. https://doi.org/10.1007/978-3-030-01370-7_22

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