Indoor service robots have been widely introduced in the fields of cleaning, delivery,
education, guidance, and healthcare, etc. in indoor environments. The mobility of an indoor …

Stair climbing is one of the most challenging tasks for vehicles, especially when transporting
people and heavy loads. Although many solutions have been proposed and demonstrated …

This paper presents a new version of Wheelchair. q, a wheelchair with stair climbing ability.
The wheelchair is able to climb single obstacles or staircases thanks to a hybrid wheel-leg …

State-of-the-art technologies empower people with motor disabilities to carry out activities of
daily living, thus enabling a better quality of life. Personal mobility is crucial for the well …

In this article, a novel yet simple step climbing robot is proposed and is comprised of two
front wheels, a rear-wheel and an actuator to vary the center distance between the front and …

This paper describes a novel stair-climbing wheelchair operated by human upper body
using lever propelled rotary-legs with posture transition mechanism. The design principle of …

Background: Power wheelchairs capable of overcoming environmental barriers, such as
uneven terrain, curbs, or stairs, have been under development for more than a decade …

This paper discusses the theoretical analysis and the experimental validation of the step and
stair climbing capability of wheel-track-leg hybrid locomotion (WheTLHLoc), a small-scale …

This paper proposes the mechanical design and wheel–leg–body cooperation control of a
robot capable of climbing stairs for the RoboMaster competition. The robot is comprised of a …

This study proposes a new wheel-leg mechanism concept and formulations for the
kinematics and dynamics of a stair-climbing robot utilizing the rotating leg locomotion of …