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

  • Omar El-Farouk E. Labib
  • Sarah W. El-Safty
  • Silvan Mueller
  • Thomas Haalboom
  • Marcus Strand
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 867)

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.

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Omar El-Farouk E. Labib
    • 1
  • Sarah W. El-Safty
    • 1
  • Silvan Mueller
    • 1
    • 2
  • Thomas Haalboom
    • 2
  • Marcus Strand
    • 2
  1. 1.EMS (Engineering and Material Sciences), Mechatronics DepartmentGerman University in CairoNew CairoEgypt
  2. 2.Baden-Wuerttemberg Cooperative State University KarlsruheKarlsruheGermany

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