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Input-State-Output Representations of Concatenated 2D Convolutional Codes Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Wheels for Staircases

Authors : Fátima Silva Leite, Jorge Batista, Krzysztof Krakowski, André Carvalho, Tiago Cruz, Eduardo Domingues, André Lizardo, Gonçalo Saraiva

Published in: CONTROLO 2016

Publisher: Springer International Publishing

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Abstract

Our objective is to design innovative robot wheels capable of rolling on staircases, without sliding and without bouncing. This is the first step to reach the ultimate goal of building wheelchairs capable to overcome the obstacles imposed by staircases on people with limited mobility. We show that, given a staircase with equal steps, there is an infinite number of wheels that roll over it, with the constraints of no-sliding and no-bouncing. Some of these wheels appear to be very interesting for real applications. We also present an algorithm for the construction of a wheel, which depends only on the measures of the tread (the part of the staircase that is stepped on) and the riser (the vertical portion between each tread) of the step.

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Metadata
Title
Wheels for Staircases
Authors
Fátima Silva Leite
Jorge Batista
Krzysztof Krakowski
André Carvalho
Tiago Cruz
Eduardo Domingues
André Lizardo
Gonçalo Saraiva
Copyright Year
2017
Book
CONTROLO 2016

Print ISBN: 978-3-319-43670-8

Electronic ISBN: 978-3-319-43671-5

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-43671-5_31