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Research on Autonomous Stairs Climbing for the Shape-shifting Robot
Li B(李斌); Chang J(常健); Zhu LC(朱林仓)
作者部门机器人学研究室
会议名称2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2015)
会议日期October 18-20, 2015
会议地点West Lafayette, USA
会议录名称SSRR 2015 - 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码1-6
收录类别EI ; CPCI(ISTP)
EI收录号20162002400108
WOS记录号WOS:000380560400003
产权排序1
关键词Stair Climbing Shape-shifting Robot Track-stair Interactions Autonomous Control
摘要In this paper, we present an algorithm for a shape-shifting robot climbing stairs autonomously. The robot has been used several times for search and rescue missions. Because of the special environment of tasks, the robot must have the ability to climb stairs autonomously to help the operators. Due to the characters of robot in “T” configuration, the mathematical model of force is established and the whole process of climbing stairs is analyzed. Grouser-tread hooking, track-stair edge frictional force et al. are all considered during the process of climbing. A description of its dynamic model is also presented which is involved in the controller. The controller is comprised of center control and heading control, which can help the robot climb stairs safely and quickly. The effectiveness of the algorithms proposed are verified by experiment.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17473
专题机器人学研究室
作者单位1.University of Chinese Academy of Sciences, Shenyang Institute of Automation Chinese Academy, Sciences, China
2.University of Chinese Academy of Sciences, Shenyang Institute of Automation Chinese Academy of Sciences, China
3.Shenyang Jianzhu University, China
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Li B,Chang J,Zhu LC. Research on Autonomous Stairs Climbing for the Shape-shifting Robot[C]. Piscataway, NJ, USA:IEEE,2015:1-6.
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