A study on the climbing strategy over vertical steps for the QuadTrack-III

Kyungmin Jeong, Hochul Shin, Yongchil Seo, Sung Uk Lee, Seungho Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper introduces a mobile robot named QuadTrack-III developed for urban search and rescue. This robot has four modular tracks which can be driven and lifted independently. Thus the configuration of the robot can be varied for adapting to uneven terrain. Each modular track consists of two sprockets with an attachment chain and two BLDC motors are embedded in the track module. It also includes BLDC motor drivers for each joint. Because the modular track mechanism embodies all of the things required for driving, the weight of the main body is smaller than the tracks. From this feature, the mass center of the robot can be lowered and the distribution of reaction forces can be varied. This paper describes the mechanical structure, the control architecture and a climbing strategy over vertical step for the QuadTrack-III. It also shows some experimental results of the vertical step climbing strategy.

Original languageEnglish
Title of host publicationICCAS 2010 - International Conference on Control, Automation and Systems
Pages82-85
Number of pages4
Publication statusPublished - 2010 Dec 1
EventInternational Conference on Control, Automation and Systems, ICCAS 2010 - Gyeonggi-do, Korea, Republic of
Duration: 2010 Oct 272010 Oct 30

Publication series

NameICCAS 2010 - International Conference on Control, Automation and Systems

Other

OtherInternational Conference on Control, Automation and Systems, ICCAS 2010
CountryKorea, Republic of
CityGyeonggi-do
Period10/10/2710/10/30

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering

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    Jeong, K., Shin, H., Seo, Y., Lee, S. U., & Kim, S. (2010). A study on the climbing strategy over vertical steps for the QuadTrack-III. In ICCAS 2010 - International Conference on Control, Automation and Systems (pp. 82-85). [5669960] (ICCAS 2010 - International Conference on Control, Automation and Systems).