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题名: Analysis of stairs-climbing ability for a tracked reconfigurable modular robot
作者: Liu JG(刘金国) ; Wang YC(王越超) ; Ma SG(马书根) ; Li B(李斌)
作者部门: 机器人学研究室
会议名称: IEEE International Workshop on Safety, Security and Rescue Robots
会议日期: June 6-9, 2005
会议地点: Kobe, JAPAN
会议主办者: IEEE
会议录: 2005 IEEE International Workshop on Safety, Security and Rescue Robots
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2005
页码: 36-41
收录类别: CPCI(ISTP) ; EI
ISBN号: 0-7803-8945-X
摘要: Stairs-climbing ability is the crucial performance of mobile robot for urban environment mission such as urban search and rescue or urban reconnaissance. The track type mobile mechanism has been widely applied for its advantages such as high stability, easy to control, low terrain pressure, and continuous drive. Stairs-climbing is a complicated process for a tracked mobile robot under kinematics and dynamics constraints. In this paper, the stairs-climbing process has been divided into riser climbing, riser crossing, and nose line climbing. During each climbing process, robot's mobility has been analyzed for its kinematics and dynamics factor. The track velocity and acceleration's influences on riser climbing have been analyzed. And the semiempirical design method of the track grouser and the module length has been provided In riser crossing and nose line climbing correspondingly. Finally, stairs-climbing experiments have been made on the two-module robot in line type, and three-module robot in tine type and in triangle type respectively.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8581
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
刘金国; 王越超; 马书根; 李斌.Analysis of stairs-climbing ability for a tracked reconfigurable modular robot.见:IEEE .2005 IEEE International Workshop on Safety, Security and Rescue Robots,NEW YORK,2005,36-41
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