Design of sTetro: A Modular, Reconfigurable, and Autonomous Staircase Cleaning Robot
Joint Authors
Mohan, Rajesh Elara
Ilyas, Muhammad
Yuyao, Shi
Devarassu, Manojkumar
Kalimuthu, Manivannan
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-07-24
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
The mechanical, electrical, and autonomy aspects of designing a novel, modular, and reconfigurable cleaning robot, dubbed as sTetro (stair Tetro), are presented.
The developed robotic platform uses a vertical conveyor mechanism to reconfigure itself and is capable of navigating over flat surfaces as well as staircases, thus significantly extending the automated cleaning capabilities as compared to conventional home cleaning robots.
The mechanical design and system architecture are introduced first, followed by a detailed description of system modelling and controller design efforts in sTetro.
An autonomy algorithm is also proposed for self-reconfiguration, locomotion, and autonomous navigation of sTetro in the controlled environment, for example, in homes/offices with a flat floor and a straight staircase.
A staircase recognition algorithm is presented to distinguish between the surrounding environment and the stairs.
The misalignment detection technique of the robot with a front staircase riser is also given, and a feedback from the IMU sensor for misalignment corrective measures is provided.
The experiments performed with the sTetro robot demonstrated the efficacy and validity of the developed system models, control, and autonomy approaches.
American Psychological Association (APA)
Ilyas, Muhammad& Yuyao, Shi& Mohan, Rajesh Elara& Devarassu, Manojkumar& Kalimuthu, Manivannan. 2018. Design of sTetro: A Modular, Reconfigurable, and Autonomous Staircase Cleaning Robot. Journal of Sensors،Vol. 2018, no. 2018, pp.1-16.
https://search.emarefa.net/detail/BIM-1202145
Modern Language Association (MLA)
Ilyas, Muhammad…[et al.]. Design of sTetro: A Modular, Reconfigurable, and Autonomous Staircase Cleaning Robot. Journal of Sensors No. 2018 (2018), pp.1-16.
https://search.emarefa.net/detail/BIM-1202145
American Medical Association (AMA)
Ilyas, Muhammad& Yuyao, Shi& Mohan, Rajesh Elara& Devarassu, Manojkumar& Kalimuthu, Manivannan. Design of sTetro: A Modular, Reconfigurable, and Autonomous Staircase Cleaning Robot. Journal of Sensors. 2018. Vol. 2018, no. 2018, pp.1-16.
https://search.emarefa.net/detail/BIM-1202145
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1202145