Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles
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 in practice, it is necessary to further improve their climbing ability and safety. This paper presents a systematic revie...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-05-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/12/3/74 |
| _version_ | 1797592717382909952 |
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| author | Antonio Pappalettera Francesco Bottiglione Giacomo Mantriota Giulio Reina |
| author_facet | Antonio Pappalettera Francesco Bottiglione Giacomo Mantriota Giulio Reina |
| author_sort | Antonio Pappalettera |
| collection | DOAJ |
| description | 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 in practice, it is necessary to further improve their climbing ability and safety. This paper presents a systematic review of the scientific and engineering stair climbing literature, providing brief descriptions of the mechanism and method of operation and highlighting the advantages and disadvantages of different types of climbing platform. To quantitatively evaluate the system performance, various metrics are presented that consider allowable payload, maximum climbing speed, maximum crossable slope, transport ability and their combinations. Using these metrics, it is possible to compare vehicles with different locomotion modes and properties, allowing researchers and practitioners to gain in-depth knowledge of stair-climbing vehicles and choose the best category for transporting people and heavy loads up a flight of stairs. |
| first_indexed | 2024-03-11T01:58:04Z |
| format | Article |
| id | doaj.art-7cfb66b741334d6d9a381f52eb560741 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-11T01:58:04Z |
| publishDate | 2023-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-7cfb66b741334d6d9a381f52eb5607412023-11-18T12:28:49ZengMDPI AGRobotics2218-65812023-05-011237410.3390/robotics12030074Watch the Next Step: A Comprehensive Survey of Stair-Climbing VehiclesAntonio Pappalettera0Francesco Bottiglione1Giacomo Mantriota2Giulio Reina3Dipartimento di Meccanica, Matematica e Management, Politecnico di Bari, 70126 Bari, ItalyDipartimento di Meccanica, Matematica e Management, Politecnico di Bari, 70126 Bari, ItalyDipartimento di Meccanica, Matematica e Management, Politecnico di Bari, 70126 Bari, ItalyDipartimento di Meccanica, Matematica e Management, Politecnico di Bari, 70126 Bari, ItalyStair 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 in practice, it is necessary to further improve their climbing ability and safety. This paper presents a systematic review of the scientific and engineering stair climbing literature, providing brief descriptions of the mechanism and method of operation and highlighting the advantages and disadvantages of different types of climbing platform. To quantitatively evaluate the system performance, various metrics are presented that consider allowable payload, maximum climbing speed, maximum crossable slope, transport ability and their combinations. Using these metrics, it is possible to compare vehicles with different locomotion modes and properties, allowing researchers and practitioners to gain in-depth knowledge of stair-climbing vehicles and choose the best category for transporting people and heavy loads up a flight of stairs.https://www.mdpi.com/2218-6581/12/3/74stair-climbing vehiclesmobile roboticsobstacle negotiationassistive technologymobility impairmentarchitectural barriers |
| spellingShingle | Antonio Pappalettera Francesco Bottiglione Giacomo Mantriota Giulio Reina Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles Robotics stair-climbing vehicles mobile robotics obstacle negotiation assistive technology mobility impairment architectural barriers |
| title | Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles |
| title_full | Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles |
| title_fullStr | Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles |
| title_full_unstemmed | Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles |
| title_short | Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles |
| title_sort | watch the next step a comprehensive survey of stair climbing vehicles |
| topic | stair-climbing vehicles mobile robotics obstacle negotiation assistive technology mobility impairment architectural barriers |
| url | https://www.mdpi.com/2218-6581/12/3/74 |
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