淡江大學機構典藏:Item 987654321/115927
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    題名: A Kinect-sensor-based Tracked Robot for Exploring and Climbing Stairs
    作者: Li, I.H.;Wang, W.Y.;Tseng, C.K.
    關鍵詞: Tracked Robot;Stair-climbing;Autonomous Robot
    日期: 2014-01
    上傳時間: 2019-03-09 12:11:18 (UTC+8)
    出版者: SAGE Journals
    摘要: This paper focuses on the stair-climbing problem for a tracked robot. The tracked robot designed in this paper has the ability to explore stairs in an unknown indoor environment, climbing up and down the stairs, keeping balance while climbing, and successfully landing on the stair platform. Intelligent algorithms are proposed to explore and align stairs, and a fuzzy controller is introduced to stabilize the tracked robot's movement during the exploration. An inexpensive Kinect depth sensor is the only equipment needed for all the control modes. Finally, experiments illustrate the effectiveness of the proposed approach for climbing stairs.
    關聯: International Journal of Advanced Robotic Systems 11, p.1-11
    DOI: 10.5772/58583
    顯示於類別:[機械與機電工程學系暨研究所] 期刊論文

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