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题名: An online stair-climbing control method for a transformable tracked robot
作者: Li N(李楠) ; Ma SG(马书根) ; Li B(李斌) ; Wang MH(王明辉) ; Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Robotics and Automation
会议日期: May 14-18, 2012
会议地点: St. Paul, MN, USA
会议主办者: IEEE
会议录: Proceedings - IEEE International Conference on Robotics and Automation
会议录出版者: IEEE
会议录出版地: Piscataway, NJ
出版日期: 2012
页码: 923-929
收录类别: CPCI(ISTP) ; EI
ISSN号: 1050-4729
ISBN号: 978-1467314039
关键词: Robotics ; Robots ; Stereochemistry
摘要: Stair-climbing is a necessary capacity for mobile robots. This paper presents an online control method for the stair-climbing of a transformable tracked robot, Amoeba-II, and this robot is also an isomerism-modules robot with different mechanism modules. Based on the reasonable compartmentalization and kinematics analysis of the stair-climbing process, the coordination of the rotations of modules can reduce the slippage between tracks and terrain. To ensure that the robot can climb stairs with enough capability and stability, the stair-climbing criterion for the robot has been established based on the force analysis of each stage of the stair-climbing procedure. Meanwhile, the interference-avoiding criterion has been set up to avoid the interference between the non-tracked module of the robot and the stair. The experiment for the stair-climbing of the robot has been implemented to certify the validity of the online stair-climbing control method for a transformable tracked robot. © 2012 IEEE.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/9866
Appears in Collections:机器人学研究室_会议论文

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