Analysis method of climbing stairs with the rocker-bogie mechanism View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2013-09

AUTHORS

Dongkyu Choi, Jongkyun Oh, Jongwon Kim

ABSTRACT

An analysis method to make the rocker bogie mechanism can climb up a stair is achieved in this paper. To verify whether the rocker bogie, with certain lengths of the linkages and radii of the wheels, could climb up a target stair or not, a kinematic analysis and its posture are determined. The trace of the center of mass of the rocker bogie was considered and the situation that three wheels contact the front side of the stair is analyzed. With this two analyses, the stair climbability graph (SCG) determined with the length and the height of a stair was drawn. The SCG shows the climbable stair group for the rocker bogie with certain size. Two prototypes of rocker bogie which has different lengths of linkages were designed and tested on two different stairs. As same result of the SCG, the first prototype rocker bogie with small rocker linkage can climb up the stair (length 450 mm and height 150 mm) but cannot climb up the other stair (length 300 mm and height 175 mm). The second prototype rocker bogie with large rocker linkage can climb up both stairs. More... »

PAGES

2783-2788

References to SciGraph publications

  • 2006-01. Stair Climber Smart Mobile Robot (MSRox) in AUTONOMOUS ROBOTS
  • Identifiers

    URI

    http://scigraph.springernature.com/pub.10.1007/s12206-013-0725-3

    DOI

    http://dx.doi.org/10.1007/s12206-013-0725-3

    DIMENSIONS

    https://app.dimensions.ai/details/publication/pub.1038764288


    Indexing Status Check whether this publication has been indexed by Scopus and Web Of Science using the SN Indexing Status Tool
    Incoming Citations Browse incoming citations for this publication using opencitations.net

    JSON-LD is the canonical representation for SciGraph data.

    TIP: You can open this SciGraph record using an external JSON-LD service: JSON-LD Playground Google SDTT

    [
      {
        "@context": "https://springernature.github.io/scigraph/jsonld/sgcontext.json", 
        "about": [
          {
            "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/1117", 
            "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
            "name": "Public Health and Health Services", 
            "type": "DefinedTerm"
          }, 
          {
            "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/11", 
            "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
            "name": "Medical and Health Sciences", 
            "type": "DefinedTerm"
          }
        ], 
        "author": [
          {
            "affiliation": {
              "alternateName": "Seoul National University", 
              "id": "https://www.grid.ac/institutes/grid.31501.36", 
              "name": [
                "School of Mechanical and Aerospace Engineering, Seoul National University, 151-742, Seoul, Korea"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Choi", 
            "givenName": "Dongkyu", 
            "id": "sg:person.014371626021.07", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014371626021.07"
            ], 
            "type": "Person"
          }, 
          {
            "affiliation": {
              "alternateName": "Seoul National University", 
              "id": "https://www.grid.ac/institutes/grid.31501.36", 
              "name": [
                "School of Mechanical and Aerospace Engineering, Seoul National University, 151-742, Seoul, Korea"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Oh", 
            "givenName": "Jongkyun", 
            "id": "sg:person.012113335574.19", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.012113335574.19"
            ], 
            "type": "Person"
          }, 
          {
            "affiliation": {
              "alternateName": "Seoul National University", 
              "id": "https://www.grid.ac/institutes/grid.31501.36", 
              "name": [
                "School of Mechanical and Aerospace Engineering, Seoul National University, 151-742, Seoul, Korea"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Kim", 
            "givenName": "Jongwon", 
            "id": "sg:person.013611426734.26", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013611426734.26"
            ], 
            "type": "Person"
          }
        ], 
        "citation": [
          {
            "id": "sg:pub.10.1007/s10514-006-5364-4", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1004286791", 
              "https://doi.org/10.1007/s10514-006-5364-4"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "sg:pub.10.1007/s10514-006-5364-4", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1004286791", 
              "https://doi.org/10.1007/s10514-006-5364-4"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/robot.2008.4543303", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1095486514"
            ], 
            "type": "CreativeWork"
          }
        ], 
        "datePublished": "2013-09", 
        "datePublishedReg": "2013-09-01", 
        "description": "An analysis method to make the rocker bogie mechanism can climb up a stair is achieved in this paper. To verify whether the rocker bogie, with certain lengths of the linkages and radii of the wheels, could climb up a target stair or not, a kinematic analysis and its posture are determined. The trace of the center of mass of the rocker bogie was considered and the situation that three wheels contact the front side of the stair is analyzed. With this two analyses, the stair climbability graph (SCG) determined with the length and the height of a stair was drawn. The SCG shows the climbable stair group for the rocker bogie with certain size. Two prototypes of rocker bogie which has different lengths of linkages were designed and tested on two different stairs. As same result of the SCG, the first prototype rocker bogie with small rocker linkage can climb up the stair (length 450 mm and height 150 mm) but cannot climb up the other stair (length 300 mm and height 175 mm). The second prototype rocker bogie with large rocker linkage can climb up both stairs.", 
        "genre": "research_article", 
        "id": "sg:pub.10.1007/s12206-013-0725-3", 
        "inLanguage": [
          "en"
        ], 
        "isAccessibleForFree": false, 
        "isPartOf": [
          {
            "id": "sg:journal.1295111", 
            "issn": [
              "1011-8861", 
              "1226-4865"
            ], 
            "name": "Journal of Mechanical Science and Technology", 
            "type": "Periodical"
          }, 
          {
            "issueNumber": "9", 
            "type": "PublicationIssue"
          }, 
          {
            "type": "PublicationVolume", 
            "volumeNumber": "27"
          }
        ], 
        "name": "Analysis method of climbing stairs with the rocker-bogie mechanism", 
        "pagination": "2783-2788", 
        "productId": [
          {
            "name": "readcube_id", 
            "type": "PropertyValue", 
            "value": [
              "b8a80e381d17535d20d74ed07a731494ea5179d4395dc5d15d8646ee2c35f925"
            ]
          }, 
          {
            "name": "doi", 
            "type": "PropertyValue", 
            "value": [
              "10.1007/s12206-013-0725-3"
            ]
          }, 
          {
            "name": "dimensions_id", 
            "type": "PropertyValue", 
            "value": [
              "pub.1038764288"
            ]
          }
        ], 
        "sameAs": [
          "https://doi.org/10.1007/s12206-013-0725-3", 
          "https://app.dimensions.ai/details/publication/pub.1038764288"
        ], 
        "sdDataset": "articles", 
        "sdDatePublished": "2019-04-11T01:10", 
        "sdLicense": "https://scigraph.springernature.com/explorer/license/", 
        "sdPublisher": {
          "name": "Springer Nature - SN SciGraph project", 
          "type": "Organization"
        }, 
        "sdSource": "s3://com-uberresearch-data-dimensions-target-20181106-alternative/cleanup/v134/2549eaecd7973599484d7c17b260dba0a4ecb94b/merge/v9/a6c9fde33151104705d4d7ff012ea9563521a3ce/jats-lookup/v90/0000000001_0000000264/records_8697_00000523.jsonl", 
        "type": "ScholarlyArticle", 
        "url": "http://link.springer.com/10.1007%2Fs12206-013-0725-3"
      }
    ]
     

    Download the RDF metadata as:  json-ld nt turtle xml License info

    HOW TO GET THIS DATA PROGRAMMATICALLY:

    JSON-LD is a popular format for linked data which is fully compatible with JSON.

    curl -H 'Accept: application/ld+json' 'https://scigraph.springernature.com/pub.10.1007/s12206-013-0725-3'

    N-Triples is a line-based linked data format ideal for batch operations.

    curl -H 'Accept: application/n-triples' 'https://scigraph.springernature.com/pub.10.1007/s12206-013-0725-3'

    Turtle is a human-readable linked data format.

    curl -H 'Accept: text/turtle' 'https://scigraph.springernature.com/pub.10.1007/s12206-013-0725-3'

    RDF/XML is a standard XML format for linked data.

    curl -H 'Accept: application/rdf+xml' 'https://scigraph.springernature.com/pub.10.1007/s12206-013-0725-3'


     

    This table displays all metadata directly associated to this object as RDF triples.

    82 TRIPLES      21 PREDICATES      29 URIs      19 LITERALS      7 BLANK NODES

    Subject Predicate Object
    1 sg:pub.10.1007/s12206-013-0725-3 schema:about anzsrc-for:11
    2 anzsrc-for:1117
    3 schema:author N02a77df461824e59aa26c536329eebb5
    4 schema:citation sg:pub.10.1007/s10514-006-5364-4
    5 https://doi.org/10.1109/robot.2008.4543303
    6 schema:datePublished 2013-09
    7 schema:datePublishedReg 2013-09-01
    8 schema:description An analysis method to make the rocker bogie mechanism can climb up a stair is achieved in this paper. To verify whether the rocker bogie, with certain lengths of the linkages and radii of the wheels, could climb up a target stair or not, a kinematic analysis and its posture are determined. The trace of the center of mass of the rocker bogie was considered and the situation that three wheels contact the front side of the stair is analyzed. With this two analyses, the stair climbability graph (SCG) determined with the length and the height of a stair was drawn. The SCG shows the climbable stair group for the rocker bogie with certain size. Two prototypes of rocker bogie which has different lengths of linkages were designed and tested on two different stairs. As same result of the SCG, the first prototype rocker bogie with small rocker linkage can climb up the stair (length 450 mm and height 150 mm) but cannot climb up the other stair (length 300 mm and height 175 mm). The second prototype rocker bogie with large rocker linkage can climb up both stairs.
    9 schema:genre research_article
    10 schema:inLanguage en
    11 schema:isAccessibleForFree false
    12 schema:isPartOf N570bcfe122c44a64b1d62bfa7abcfcec
    13 N63c644a895de4d04b075462f45923f3a
    14 sg:journal.1295111
    15 schema:name Analysis method of climbing stairs with the rocker-bogie mechanism
    16 schema:pagination 2783-2788
    17 schema:productId N48154feb5dd848878d698188c9aadfc2
    18 N6f27b0d80cc64af19e6580989b94d300
    19 N7660f263deae4191ac7f7383858d5bee
    20 schema:sameAs https://app.dimensions.ai/details/publication/pub.1038764288
    21 https://doi.org/10.1007/s12206-013-0725-3
    22 schema:sdDatePublished 2019-04-11T01:10
    23 schema:sdLicense https://scigraph.springernature.com/explorer/license/
    24 schema:sdPublisher Nd494ee0259cb48e7a278b965ea640ba7
    25 schema:url http://link.springer.com/10.1007%2Fs12206-013-0725-3
    26 sgo:license sg:explorer/license/
    27 sgo:sdDataset articles
    28 rdf:type schema:ScholarlyArticle
    29 N02a77df461824e59aa26c536329eebb5 rdf:first sg:person.014371626021.07
    30 rdf:rest N6ed6375acb2141d09367f1fb2c160b47
    31 N3db0670fe4d144b28e00e152691b3867 rdf:first sg:person.013611426734.26
    32 rdf:rest rdf:nil
    33 N48154feb5dd848878d698188c9aadfc2 schema:name dimensions_id
    34 schema:value pub.1038764288
    35 rdf:type schema:PropertyValue
    36 N570bcfe122c44a64b1d62bfa7abcfcec schema:issueNumber 9
    37 rdf:type schema:PublicationIssue
    38 N63c644a895de4d04b075462f45923f3a schema:volumeNumber 27
    39 rdf:type schema:PublicationVolume
    40 N6ed6375acb2141d09367f1fb2c160b47 rdf:first sg:person.012113335574.19
    41 rdf:rest N3db0670fe4d144b28e00e152691b3867
    42 N6f27b0d80cc64af19e6580989b94d300 schema:name readcube_id
    43 schema:value b8a80e381d17535d20d74ed07a731494ea5179d4395dc5d15d8646ee2c35f925
    44 rdf:type schema:PropertyValue
    45 N7660f263deae4191ac7f7383858d5bee schema:name doi
    46 schema:value 10.1007/s12206-013-0725-3
    47 rdf:type schema:PropertyValue
    48 Nd494ee0259cb48e7a278b965ea640ba7 schema:name Springer Nature - SN SciGraph project
    49 rdf:type schema:Organization
    50 anzsrc-for:11 schema:inDefinedTermSet anzsrc-for:
    51 schema:name Medical and Health Sciences
    52 rdf:type schema:DefinedTerm
    53 anzsrc-for:1117 schema:inDefinedTermSet anzsrc-for:
    54 schema:name Public Health and Health Services
    55 rdf:type schema:DefinedTerm
    56 sg:journal.1295111 schema:issn 1011-8861
    57 1226-4865
    58 schema:name Journal of Mechanical Science and Technology
    59 rdf:type schema:Periodical
    60 sg:person.012113335574.19 schema:affiliation https://www.grid.ac/institutes/grid.31501.36
    61 schema:familyName Oh
    62 schema:givenName Jongkyun
    63 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.012113335574.19
    64 rdf:type schema:Person
    65 sg:person.013611426734.26 schema:affiliation https://www.grid.ac/institutes/grid.31501.36
    66 schema:familyName Kim
    67 schema:givenName Jongwon
    68 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013611426734.26
    69 rdf:type schema:Person
    70 sg:person.014371626021.07 schema:affiliation https://www.grid.ac/institutes/grid.31501.36
    71 schema:familyName Choi
    72 schema:givenName Dongkyu
    73 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014371626021.07
    74 rdf:type schema:Person
    75 sg:pub.10.1007/s10514-006-5364-4 schema:sameAs https://app.dimensions.ai/details/publication/pub.1004286791
    76 https://doi.org/10.1007/s10514-006-5364-4
    77 rdf:type schema:CreativeWork
    78 https://doi.org/10.1109/robot.2008.4543303 schema:sameAs https://app.dimensions.ai/details/publication/pub.1095486514
    79 rdf:type schema:CreativeWork
    80 https://www.grid.ac/institutes/grid.31501.36 schema:alternateName Seoul National University
    81 schema:name School of Mechanical and Aerospace Engineering, Seoul National University, 151-742, Seoul, Korea
    82 rdf:type schema:Organization
     




    Preview window. Press ESC to close (or click here)


    ...