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Alternative TitleOnline Stair-climbing Control Based on the Combined Motion Planning of Transformable Tracked Robot
李楠; 王明辉; 马书根; 李斌; 王越超
Source Publication机械工程学报
Indexed ByEI ; CSCD
EI Accession number20120714766835
Contribution Rank1
Funding Organization国家自然科学基金资助项目(60905058)
Keyword可变形履带机器人 运动规划 翻越楼梯 在线控制
Other AbstractAs one of the most typical artificial environments,stairway presents a serious challenge to search and rescue robot in the ruins.To ensure that the robot can climb stairs with enough capability and stability,an online prediction control method for the stair-climbing of a robot,which is based on the analysis of the stair-climbing of a transformable tracked robot named as Amoeba-II,is proposed and developed.This method is not only applicable for the normal mobile robot,but also for the isomerism-modules robot with different mechanism modules.Based on the kinematics and quasi-static analysis of each stage which is determined by the motion planning for the stair-climbing procedure,the motion-coordination criterion and the crossing criterion for the robot has been established.Meanwhile,the interference-avoiding criterion is set up to avoid the interference between the non-tracked module of the robot and the stair.Based on the identification of the stair,the method can predict the stair-climbing capacity and the stability for combined motion-planning.The experiment for the stair-climbing of the robot is performed to certify the validity of the proposed online prediction method. 更多
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GB/T 7714
李楠,王明辉,马书根,等. 基于联合运动规划的可变形履带机器人在线翻越楼梯控制方法[J]. 机械工程学报,2012,48(1):47-56.
APA 李楠,王明辉,马书根,李斌,&王越超.(2012).基于联合运动规划的可变形履带机器人在线翻越楼梯控制方法.机械工程学报,48(1),47-56.
MLA 李楠,et al."基于联合运动规划的可变形履带机器人在线翻越楼梯控制方法".机械工程学报 48.1(2012):47-56.
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