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Mathematical Problems in EngineeringVolume 2013 2013, Article ID 243094, 9 pages

Research ArticleDepartment of Electrical Engineering, Southern Taiwan University of Science and Technology, 1 Nan-Tai Street, Yung Kang District, Tainan 710, Taiwan

Received 15 September 2013; Accepted 3 October 2013

Academic Editor: Teen-Hang Meen

Copyright © 2013 Ming-Shyan Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A stair-climbing robot is equipped with a grasping arm for capturing objects to provide service for the elders. A board based on a digital signal processor DSP plays the role of control center to manage all actions of two brushless DC motors for locomotion, two worm gears for torque magnification, and two DC motors for arms’ pitching in the main body. The robot is steered by fuzzy logic control FLC which integrates the outputs of DC bus current sensor and an inclinometer. There is a CMOS camera for vision used in the robot, and the grasping arm is controlled via the video camera for capturing objects. Simple algorithms of image processing are implemented in the field programmable gate array FPGA board that generates the -axis and -axis commands of the grasping arm to capture-load objects. Three walking experiments of the stair-climbing robot to move up and down stairs are shown in the taped pictures from videos. The object tracking and capturing by the grasping arm and camera verifies the proposed design.

Autor: Ming-Shyan Wang, Che-Min Mi, Shih-Yu Wu, and Yi-Ming Tu

Fuente: https://www.hindawi.com/


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