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- Title
Research on Centroid Position for Stairs Climbing Stability of Search and Rescue Robot.
- Authors
Yan Guo; Aiguo Song; Jiatong Bao; Huatao Zhang; Hongru Tang
- Abstract
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.
- Subjects
ROBOT kinematics; ROBOT motion; STABILITY (Mechanics); ROBOTICS; MACHINE theory; NUMERICAL analysis
- Publication
International Journal of Advanced Robotic Systems, 2010, Vol 7, Issue 4, p24
- ISSN
1729-8806
- Publication type
Article
- DOI
10.5772/10493