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- W2139966259 abstract "This paper proposes a control algorithm for continuous high-speed stair climbing for an eight-legged stair-climbing vehicle, and discusses a new leg mechanism to implement this control. The control algorithm was first simulated to verify its effectiveness, and then implemented with a vehicle prototype, which continuously climbed a set of steps at constant speed under an applied load of 30 kg. A belt-drive mechanism with a long leg-stroke was developed, along with a mechanism to control the orientation of the passive wheels; both were experimentally verified. The success of these experiments indicates that the new control algorithm and leg mechanism are promising components for practical stair-climbing applications in the future." @default.
- W2139966259 created "2016-06-24" @default.
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- W2139966259 date "2009-07-01" @default.
- W2139966259 modified "2023-09-23" @default.
- W2139966259 title "Continuous high-speed climbing control and leg mechanism for an eight-legged stair-climbing vehicle" @default.
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- W2139966259 doi "https://doi.org/10.1109/aim.2009.5229819" @default.
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