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Research Article
This paper presents two contributions in the development of stair detection algorithm for climbing
robot. First, a new tri-star wheeled mechanism was developed to smoothly overcome the stairs.
Second, the sensor-based algorithm was proposed for detection of stairs and switching states
autonomously. Two motor driven ultrasonic sensors feed the posture information of the robot
back to the controller to recognize the climbing environment. The validity of the proposed
algorithm was demonstrated through experiments in realizing climbing environment. The
experiments prove that the proposed algorithm can do rolling, ascending and descending on the
staircase.
Keywords: Climbing robot, Detection algorithm, Mechanism design, Range sensing, Sensor-based control.
INTRODUCTION
To cope with the climbing environment in the real world, et al. (2009), in order to improve their motion control and
various research efforts have been directed toward the pose estimation. Lai et al. (2010) conducted the
development of a robot capable of autonomous stair development of an image based cross-floor navigation
climbing. Staircase is a common obstacle that a mobile method combined with wireless modules. Lai et al. (2009)
search and rescue robot may encounter during every investigated methods to detect and locate curbs and
mission. Climbing up and down stairs for a mobile robot is stairways using stereo vision. The previous researches are
not an easy task. Zhang et al. (2011) developed a laser very motivated for the climbing environment but the
based algorithm where a vertical laser and sonar sensor recognitions of climbing environment are not so simple for
are used to identify stairs and a fuzzy control system is those who unfamiliar with image processing. To simply
developed to ensure that the robot does not stray from the cope with the above complex techniques, safe and
centerline of the stairs during approaching the staircases. autonomous stair climbing algorithm is proposed and
The autonomous stair climbing algorithm was implemented implemented for a new tri-star wheeled robot in this paper.
on tracked robot by Vu et al. (2008), Pinhas et al. (2007),
Shi et al. (2017) and Morozovsky et al. (2015) which is Aiming at the functional requirement of climbing the stairs,
based on multi-sensor fusion and camera detection. Cong Aye et al. (2016) has been reported on dynamics and
et al. (2007) implemented a stair detection method kinematics analysis during a tri-star wheeled mobile robot’s
implemented on UGV with the innovation of a control climbing of stairs. Simulation results are also provided that
algorithm using Kinect v2 depth sensor to recognize and the calculations are valid. This study aims to develop
measure stairs for stair climbing tasks of tracked robot. simple sensor-based stair detection algorithm combined
Michael et al. (2014) proved that the wheelchair is the with the reliable control strategy to switch rolling,
solution for the demographic change in society as it ascending and descending states. To climb the stair
promises the maximum of mobility for people who suffer autonomously, two motor driven ultrasonic sensors feed
physical impairment due to a stair climbing function and a the posture information of the robot back to the controller.
car integration. Kinematics based approach has been The proposed algorithm is based on the sensors’
proposed for rescue robot in the performance of Kalantari information during approaching and landing. As a smooth
Stairs Detection Algorithm for Tri-Star Wheeled Robot and Experimental Validation
Aye MMT 042
Stairs Detection Algorithm for Tri-Star Wheeled Robot and Experimental Validation
World J. Mech. Engin. 043
Stairs Detection Algorithm for Tri-Star Wheeled Robot and Experimental Validation
Aye MMT 044
Stairs Detection Algorithm for Tri-Star Wheeled Robot and Experimental Validation
World J. Mech. Engin. 045
the correct information to the controller if there are no in Figure 6(b) and Figure 6(c), according to the
significant effects on the robot heading. Significant changes of inclination angle of robot’s body as shown
heading errors occur when the climbing environment is in Figure 6(a). If the state of tri-star frame angle is
rough or disturbed by other obstacles except the steps. satisfied with the multiples of 120 degrees, the first
These errors are normal for the sensors as their consideration is to check the information from
feedback is based on the sound signal. Experimental horizontal sensor. If d > γ, it means the robot is not
results in Figure 6 and Figure 7 show that the robot is close up to the step. But only this information is not
able to overcome and continue the stair climbing with possible for the robot to have the accurate decision.
desired switching state using the proposed algorithm. Therefore, the second consideration is added to
ensure that the inclined sensor is less than or equal to
4) Specifications of Sensors and Actuators: The the threshold value (x <= γ). If so, the robot will be on
configurations related to the devices used in the flat surface with the normal velocity defined for rolling
proposed system are described in the following table. state. Here, the tri-star frame angle, θ will be zero and
only the rolling angle, β will be activated since it is the
Sensors and rolling state. In this situation, the gyro feedback is not
actuators Descriptions considered as the two sensors are in initial states.
Ultrasonic Supply voltage :5V Since the robot is in rolling state, the information from
sensor Current : 15 mA two sensors are always changes and when the range
Frequency :40 kHz of d is within the deviation of increment or decrement
Maximal range : 400 cm of 2 compared to the threshold value, the previous
Minimal range : 3 cm velocity will be decreased in order to prevent the
Trigger pulse width: 10 μs mechanism from bumping into the steps. After 4 sec,
Gyro sensor Power supply : 4.3 to 9 V the data in Figure 6(d) and Figure 6(e) show that the
Gyroscope range: +/-250, 500, 1000, 2000 °/s actual distance of ultrasonic sensor 1, d becomes
Acceleration range: +/-2, 4, 8,16 g
equal to the threshold value of α and the actual
Weight : 2.1 g (0.07oz)
distance of ultrasonic sensor 2, x becomes greater
Servo motor Operating voltage : 4.8-6.0 V
than γ then the velocity will be increased enough to
Operating speed (4.8V): 0.23sec/60 degrees
Operating Speed (6.0V): 0.19sec/60 degrees climb the step because ascending state require the
Stall Torque (4.8V) : 44 oz/in (3.2kg.cm) higher torque than rolling state and as a result the
Stall Torque (6.0V) : 56.8 oz/in (4.1kg.cm) rolling mode is switched to the ascending mode as
Weight : 1.3 oz (37.2g) shown in Figure 6(g) and the descending mode is off
Actuator Nominal voltage: 12 V during the ascending mode is on as can be seen in
Gear ratio : 100 : 1 Figure 6(h). Once the ascending mode is on, the tri-
Stall current :6A star frame is rotated starting from zero as shown in
Output torque : 1.55 Nm Figure 6(f), and at the same time the rolling angle, β is
Rotary encoder : 64 CPR simultaneously rotated altogether with the rotation of θ
Motor power : 12 V because of the mechanism design as can be seen in
No load speed :100 rpm Figure 6(i). After landing on the first step, the gyro
Weight : 230 g feedback is considered to recover the deviation of two
sensors. Similar actions will be activated when the next
DETECTION AND APPROACH step is approached. To satisfy the detection of upstairs
and to ascend each step, just 120 degrees’ rotation of
The main motivation of using ultrasonic sensors is to tri-star frame is needed. Therefore, as confirmed in
complete the stairs detection process without calculating Figure 6(f), one revolution and 120 degrees of tri-star
the complete parameters of staircases (i.e, height, width, frame angle is required to overcome four steps. So,
length, inclination). Two sensors will be simultaneously counter-clockwise rotation of the actuator gives the tri-
detected the stair and proposed algorithm will assist for the star motion.
robot to decide the stair on ahead of is upstairs or 2) Detection of Descending State: For the downstairs,
downstairs. Then, the tri-star frame rotation will also be the information of inclined ultrasonic sensor plays in a
always checked. Every time when it reaches to the vital role to let the robot know before the steps and to
multiples of 120 (0, 120, 240, 360) degree, the information prevent from falling down. Initially, the robot is at the
of two ultrasonic sensors will be checked again for the top of the downstairs and the distance of horizontal
switching states. ultrasonic sensor is always greater than the threshold
value. As the initial state of descending is rolling mode,
1) Detection of Ascending State: As the actuator is the condition of d > γ, x <= γ, θ = 0 have been satisfied
started to activate, the two servomotors are rotated to and β will be activated with the rolling velocity. The
control the orientation of two sensors, as demonstrated approach to downstairs is straightforward with the
Stairs Detection Algorithm for Tri-Star Wheeled Robot and Experimental Validation
Aye MMT 046
Figure 6: Experimental results of switching state between Figure 7: Experimental results of switching state
rolling mode and ascending mode based on such data between rolling mode and descending mode based on
of λ, μ, σ, d, x, θ and β. (Source: Author) such data of λ, μ, σ, d, x, θ and β. (Source: Author)
desired position of two sensors and the gyro feedback the staircase surface and its scope can be adjusted
is not affected. The more the robot is close up to the according to the height of staircase. The adjustable
down steps, the greater the range of inclined sensor. If ones are the postures of two ultrasonic sensors and
x > γ is satisfied, the rolling velocity is needed to be two servomotors which are denoted as h1 and h2.
decreased to safely overcome the steps because
descending state does not require the higher torque as
in ascending state. Then, the descending state will be
switched smoothly. This means that wheel rotation is
changed to tri-star frame rotation. Thus, as in the
ascending state, tri-star frame angle is initiated to
rotate starting from zero simultaneously with the
activation of rolling angle. Throughout the changes of
desired position, the two sensors will orientate
themselves to the desired heading, based on the
information obtained from the gyro sensor. To
overcome a down step and to complete landing, the
triangle position of tri-star frame which means 240
degrees is needed to rotate. Since the proposed stair
has four steps, the tri-star frame is needed to rotate
two revolutions and 240 degrees for the whole
scenario. This was confirmed in Figure 7(f) with the Figure 8: Setting of untouchable area for different stairs
instantaneous rotation of rolling angle as can be seen size. (Source: Author)
in Figure 7(i).
3) Declaration of Nomenclatures: The nomenclatures Normally, the robot can overcome the height of step
used in the paper can be denoted as follows: that is equal to the radius of the tri-star frame. The two
λ = inclination angle of the robot’s body, sensors can provide the valid information for the
μ = rotation angle of servo motor 1 with respect to λ, proposed stair design. So, the other conditions should
σ = rotation angle of servo motor 2 with respect to λ, also be considered about the stairs different from the
d = actual distance of ultrasonic sensor 1, proposed one. For the lower step, the robot will
x = actual distance of ultrasonic sensor 2, overcome with the rolling state instead of ascending
θ = tri-star frame angle, state because the height of step is too low for two
β = rolling angle. sensors to capture the distances. If the step is a little
4) Range Limitations for Different Stairs Size: The lower than the proposed one that means the horizontal
robot first needed to find the scope of untouchable sensor captures the fluctuated distance, the stair
area, see in Figure 8, where the area must not meet climbing probability of robot will depend on the landing
Stairs Detection Algorithm for Tri-Star Wheeled Robot and Experimental Validation
World J. Mech. Engin. 047
CONCLUSION
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Autonomous stair climbing with reconfigurable tracked Copyright: © 2019: Aye MMT. This is an open-access
mobile robot. IEEE International Workshop on Robotic article distributed under the terms of the Creative
and Sensors Environments, Canada. DOI: Commons Attribution License, which permits unrestricted
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provided the original author and source are cited.
Stairs Detection Algorithm for Tri-Star Wheeled Robot and Experimental Validation