Tham khảo tài liệu 'climbing and walking robots part 3', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | A Wheel-based Stair-climbing Robot with a Hopping Mechanism 53 1 200 N m the initial contraction of the spring h of m and the horizontal velocity vx of m s. The impact acceleration at the moment of landing was approximately 14 G which was close to that experienced during flight . almost 10 G. As the impact acceleration under free-fall from the riser height to the step was 77 G the soft-landing of this robot reduced the impact by 82 . Figure 13 shows stroboscopic images of step descending. The posture at takeoff was controlled by a wheelie. Fig. 11. Two methods for descending stairs Fig. 12. Trajectories of the two body parts and impact accelerations during hopping motion 54 Climbing and Walking Robots Fig. 13. Stroboscopic images of step descending 7. Conclusion We introduced a wheel-based stair-climbing robot with a hopping mechanism for stairclimbing. The robot consisting of two body parts connected by springs climbed stairs quickly softly and economically by using the vibration of a two-degrees-of-freedom system. In the future we intend to shorten the required tread length by controlling the wire tension and minimizing the body length to realize a practical stair-climbing robot. A Wheel-based Stair-climbing Robot with a Hopping Mechanism 55 8. References Altendorfer R. Moore . Komsuoglu H. Buehler M. Brown H. McMordie D. Saranli U. Full R. Koditschek . 2001 . A Biologically Inspired Hexapod Runner Autonomous Robots Vol. 11 month 2001 pp. 207 - 213 Asai Y. Chiba Y. Sakaguchi K. Sudo T. Bushida N. Otsuka H. Saito Y. Kikuchi K. 2008 . Wheel-Based Stair-climbing Robot with Hopping Mechanism -Demonstration of Continuous Stair Climbing Using Vibration- Journal of Robotics and Mechatronics Vol. 20 No. 2 Apr. 2008 pp. 221-227 ASIMO OFFICIAL SITE http AsIMO Harada K. Kajita S. Kaneko K. Hirukawa H. 2006 . Dynamics and Balance of a Humanoid Robot during Manipulation Tasks IEEE Transaction on Robotics 2006 vol. 22 no. 3 pp. 568-575. Hirose
