Research on Centroid Position for Stairs Climbing Stability of Search and Rescue Robot

International Journal of Advanced Robotic Systems

关键词: centroid;    stairs climbing;    stability;    search and rescue robot;   

DOI  :  10.5772/10493

学科分类：自动化工程

来源: InTech

【 摘 要 】

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.

【 授权许可】

CC BY