Development of Compact Self-Balancing Robot with Self-Standing and Stair-Climbing Capability

dc.contributor.authorRobillard, Dominic
dc.contributor.authorLanteigne, Eric
dc.identifier.citationCCToMM Mechanisms, Machines, and Mechatronics (M 3 ) Symposium
dc.description.abstractSelf-balancing robots can turn on the spot using differential steering with better efficiency than tracked or four-wheel drive robots, and they can be many times their width in height. However they have two major limitations: they cannot stand-up on their own and cannot climb stairs. In this paper, a novel design is proposed to address these issues. A single degree of freedom is added to the center of a four-wheel drive robot. This arm allows the robot to climb stairs and stand-up on its own. A model and simulation of the balancing and the stair-climbing process are derived and the stair-climbing is compared against experimental results with a prototype. It was shown that the model closely follows the trend of the experimental results and provides a basis for future studies on the concept.
dc.description.sponsorshipUniversity of Ottawa
dc.titleDevelopment of Compact Self-Balancing Robot with Self-Standing and Stair-Climbing Capability
dc.typeConference Proceeding
CollectionGénie mécanique - Publications // Mechanical Engineering - Publications

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