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A tip-over and slippage stability criterion for stair-climbing of a wheelchair robot with Variable Geometry Single Tracked Mechanism
Yu SY(于苏洋); Wang T(王挺); Wang YC(王越超); Zhi D(智迪); Yao C(姚辰); Li XF(李小凡); Wang Z(王忠); Luo Y(罗宇); Wang ZD(王志东)
Department机器人学研究室
Conference Name2012 IEEE International Conference on Information and Automation, ICIA 2012
Conference DateJune 6, 2012 - June 8, 2012
Conference PlaceShenyang, China
Source Publication2012 IEEE International Conference on Information and Automation, ICIA 2012
PublisherIEEE Computer Society
Publication PlaceWashington, DC
2012
Pages88-93
Indexed ByEI ; CPCI(ISTP)
EI Accession number20123915478334
WOS IDWOS:000318899300017
Contribution Rank1
ISBN978-1-4673-2238-6
KeywordGeometry Stability Criteria Stairs Wheelchairs
AbstractThis paper introduces an originally designed wheelchair robot equipped with a novel type of Variable Geometry Single Tracked Mechanism (VGSTM) that can actively control the robot shape and the track tension. So it becomes possible to improve the obstacle clearing capability of the robot by adapting the robot shape for the obstacle. Tip-over and slippage for track typed mobile robots are intractable problems especially in stair-climbing, which is the most fundamental obstacle clearing performance of the wheelchair robot, because of the complex track-stair interaction. In this paper, a tip-over and slippage stability criterion is derived based on the geometric model, the static model, and the track-stair interaction analysis. The stability state of the wheelchair robot during stair-climbing is obtained by simulation. © 2012 IEEE.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/9863
Collection机器人学研究室
Corresponding AuthorYu SY(于苏洋)
Affiliation1.Stake Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China
2.Graduate School of Chinese Academy of Science, Beijing, China
3.Department of Advanced Robotics, Chiba Institute of Technology, Chiba, Japan
Recommended Citation
GB/T 7714
Yu SY,Wang T,Wang YC,et al. A tip-over and slippage stability criterion for stair-climbing of a wheelchair robot with Variable Geometry Single Tracked Mechanism[C]. Washington, DC:IEEE Computer Society,2012:88-93.
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