Dynamics and stability analysis on stairs climbing of wheel–track mobile robot
نویسندگان
چکیده
منابع مشابه
Research on Dynamics and Stability in the Stairs-climbing of a Tracked Mobile Robot
Aiming at the functional requirement of climbing up the stairs, the dynamics and stability during a tracked mobile robot’s climbing of stairs is studied. First, from the analysis of its cross‐country performance, the mechanical structure of the tracked mobile robot is designed and the hardware composition of its control system is given. Second, based on the anal...
متن کاملA mobile robot with autonomous climbing and descending of stairs
Mobile robots are used to operate in urban environments, for surveillance, reconnaissance, and inspection, as well as for military operations and in hazardous environments. Some are intended for exploration of only natural terrains, but others also for artificial environments, including stairways. This paper presents a mobile robot design that achieves autonomous climbing and descending of stai...
متن کاملMotion Planning of Biped Robot Climbing Stairs
The motion control of a biped robot that can climb up and down stairs is studied in this work. The algorithm generates walking patterns with desired stable margin and walking speed. Only the approximate stair height and width are required. This algorithm derives the optimal hip height and uses cubic polynomial to generate the hip and foot trajectory. The control of initial and final speeds in a...
متن کاملClimbing Stairs with EP-WAR2 Biped Robot
A second prototype of biped walking robot, named as EPWAR2 (Electropneumatic WAlking Robot), has been designed and built at LARM (Laboratory of Robotics and Mechatronics) in Cassino. In addition to the performances of previous prototype EP-WAR, EP-WAR2 is able to climb stairs because of a new actuation system. A suitable programming of the PLC (Programmable Logic Controller) has been based on s...
متن کاملResearch on Centroid Position for Stairs Climbing Stability of Search and Rescue Robot
24 ISSN 1729‐8806, pp. 25‐32 Research on Centroid Position for Stairs Climbing Stability of Search and Rescue Robot Yan Guo1,2, Aiguo Song1, Jiatong Bao1, Huatao Zhang1, and Hongru Tang3 1School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China 2Beckman Institute, University of Illinois at Urbana‐Champaign, Urbana 61801, Illinois, USA 3School of Energy and Pow...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2017
ISSN: 1729-8814,1729-8814
DOI: 10.1177/1729881417720783