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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)
作者部门机器人学研究室
会议名称2012 IEEE International Conference on Information and Automation, ICIA 2012
会议日期June 6, 2012 - June 8, 2012
会议地点Shenyang, China
会议录名称2012 IEEE International Conference on Information and Automation, ICIA 2012
出版者IEEE Computer Society
出版地Washington, DC
2012
页码88-93
收录类别EI ; CPCI(ISTP)
EI收录号20123915478334
WOS记录号WOS:000318899300017
产权排序1
ISBN号978-1-4673-2238-6
关键词Geometry Stability Criteria Stairs Wheelchairs
摘要This 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.
语种英语
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被引频次:8[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/9863
专题机器人学研究室
通讯作者Yu SY(于苏洋)
作者单位1.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
推荐引用方式
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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