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Stair Climber Smart Mobile Robot (MSRox)

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Abstract

MSRox is a wheeled mobile robot with two actuated degrees of freedom which enables it to have smooth motion on flat surfaces. It has the capability of climbing stairs and traversing obstacles, and adaptability toward uphill, downhill and slope surfaces. MSRox with 82 cm in length, 54 cm in width and 29 cm in height has been designed to climb stairs of 10 cm in height and 15 cm in width; nevertheless, it has the capability of climbing stairs up to about 17 cm in height and unlimited widt.

In this paper, the motion systems and the capabilities of MSRox are described. Furthermore, experimental results of stair climbing and a comparison of the results with others are presented.

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Authors and Affiliations

  1. Tarbiat Modares University of Iran, Iran

    Mohsen M. Dalvand & Majid M. Moghadam

Authors
  1. Mohsen M. Dalvand
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  2. Majid M. Moghadam
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Correspondence to Mohsen M. Dalvand.

Additional information

Mohsen M. Dalvand received his Bachelor of Science in Mechanical Engineering from the Bu Ali Sina University in 2000. He received Master of Science in Mechanical Engineering from Tarbiat Modares University in 2003. His research is concerned with Robotic and Automation. He has designed and manufactured three robots and automatic devices till now and he has two inventions in Iran. Now he works at Technology Development Institute of Sharif University developing robots and automatic devices. These robots included design and manufacturing of two-wheel inverted pendulum and AGV robot (Autonomous Ground Vehicles). More information can be found in his personal page: http://mmd.i8.com.

Majid M. Moghaddam received the B.Sc. degree in Mechanical Engineering in 1988 from Sharif University of Technology, Iran and M.Eng. degree in Mechanical Engineering in 1993 from McGill University, Canada and Ph.D. degree in Mechanical Engineering in 1996 from University of Toronto, Canada. He is a faculty member in the department of Mechanical Engineering at Tarbiat Modares University, Tehran, Iran. He has taught there since 1997. His research interests now centre on Robotics, Robust H∞ Control.

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Dalvand, M.M., Moghadam, M.M. Stair Climber Smart Mobile Robot (MSRox). Auton Robot 20, 3–14 (2006). https://doi.org/10.1007/s10514-006-5364-4

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  • DOI: https://doi.org/10.1007/s10514-006-5364-4

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