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 …

This article presents a new mobile platform with two-degree-of-freedom (2-DOF)
transformable wheels for service robots, which can overcome steps and stairs of various …

Stair climbing is one of the most important capabilities of mobile robots. Therefore, stair-
climbing mobile robots have become a field of study and diverse stair-climbing mobile …

With the recent advancements in delivery service robots, the necessity for stair climbing in
indoor and outdoor environments has increased. However, stairs are challenging obstacles …

This study presents a disturbance torque observer-based variable impedance control
method to mitigate the disturbance force acting on the 2-degree-of-freedom (DOF) …

Overcoming stairs is an important requirement for mobile robots. Therefore, many studies
have been conducted to develop robots with novel stair-climbing mechanisms. A curved …

This article presents WAVE, a four-bar linkage-based stair-climbing robot. WAVE is
designed to be a last mile delivery robot that can deliver goods on stairways and flat ground …

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 a mobile robotic platform, LEVO, which uses a normal wheel and a
curved-spoke tri-wheel (CSTW). The normal wheel is used for driving on flat terrain, and the …

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 …