期刊论文详细信息
ROBOMECH Journal | |
Stair-climbing gait for a four-wheeled vehicle | |
article | |
Shuro Nakajima1  | |
[1] Faculty of Systems Engineering, Wakayama University | |
关键词: Climbing stairs; Powered wheelchair; Four-wheeled vehicle; Personal mobility vehicle; | |
DOI : 10.1186/s40648-020-00168-z | |
学科分类:社会科学、人文和艺术(综合) | |
来源: Springer | |
【 摘 要 】
This paper proposes a stair-climbing gait for a four-wheeled vehicle. The idea and methodology of climbing stairs are described, and the results of experiments are shown. Crawler-type vehicles and vehicles with special, complicated mechanisms are commonly used for climbing continuous steps (stairs). In contrast, in this paper, a four-wheeled vehicle with additional degrees of freedom, whose mechanism is not as complicated, is discussed. A gait algorithm based on a pace gait is proposed, and its performance is evaluated.
【 授权许可】
CC BY
【 预 览 】
Files | Size | Format | View |
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RO202106300003191ZK.pdf | 2292KB | download |