Open AccessResearch on Centroid Position for Stairs Climbing Stability of Search and Rescue Robot
Author(s) -
Yan Guo,
Aiguo Song,
J. Bao,
Huatao Zhang,
Hongru Tang
Publication year - 2010
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/10493
Subject(s) - stairs , climb , centroid , computer science , climbing , position (finance) , stability (learning theory) , kinematics , robot , simulation , stair climbing , artificial intelligence , control theory (sociology) , physics , structural engineering , engineering , classical mechanics , physical medicine and rehabilitation , finance , machine learning , economics , thermodynamics , medicine , control (management)
This paper represents the relationship between the stability of stairs climbing and the centroid position of the search and rescue robot. The robot system is considered as a mass point- plane model and the kinematics features are analyzed to find the relationship between centroid position and the maximal pitch angle of stairs the robot could climb up. A computable function about this relationship is given in this paper. During the stairs climbing, there is a maximal stability-keeping angle depends on the centroid position and the pitch angle of stairs, and the numerical formula is developed about the relationship between the maximal stability-keeping angle and the centroid position and pitch angle of stairs. The experiment demonstrates the trustworthy and correction of the method in the paper
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