dc.contributor.authorMuhammad Ilyas
dc.contributor.authorYuyao, Shi
dc.contributor.authorMohan, Rajesh Elara
dc.contributor.authorDevarassu, Manojkumar
dc.contributor.authorKalimuthu, Manivannan
dc.identifier.citationMuhammad Ilyas, Yuyao, S., Mohan, R. E., Devarassu, M., & Kalimuthu, M. (2018). Design of sTetro: A Modular, Reconfigurable, and Autonomous Staircase Cleaning Robot. Journal of Sensors, 2018, 8190802-. doi:10.1155/2018/8190802en_US
dc.description.abstractThe 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.en_US
dc.format.extent16 p.en_US
dc.relation.ispartofseriesJournal of Sensorsen_US
dc.rights© 2018 Muhammad Ilyas 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.en_US
dc.subjectDRNTU::Engineering::Mechanical engineeringen_US
dc.subjectCleaning Roboten_US
dc.titleDesign of stetro: a modular, reconfigurable, and autonomous staircase cleaning roboten_US
dc.typeJournal Article
dc.contributor.schoolSchool of Mechanical and Aerospace Engineeringen_US
dc.description.versionPublished versionen_US

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