Research on Centroid Position for Stairs Climbing Stability of Search and Rescue Robot

• Main Authors: Yan Guo, Aiguo Song, Jiatong Bao, Huatao Zhang, Hongru Tang
• Format: Article
• Language: English
• Published: SAGE Publishing 2011-01-01
• Series: International Journal of Advanced Robotic Systems
• Subjects: centroid; stairs climbing; stability; search and rescue robot
• Online Access: http://www.intechopen.com/articles/show/title/research-on-centroid-position-for-stairs-climbing-stability-of-search-and-rescue-robot
• ISSN: 1729-8806; 1729-8814

This paper represents the relationship between the stability of stairs climbing and the centroid position of the search and rescue robot. The robot system is considered as a mass point-plane model and the kinematics features are analyzed to find the relationship between centroid position and the maximal pitch angle of stairs the robot could climb up. A computable function about this relationship is given in this paper. During the stairs climbing, there is a maximal stability-keeping angle depends on the centroid position and the pitch angle of stairs, and the numerical formula is developed about the relationship between the maximal stability-keeping angle and the centroid position and pitch angle of stairs. The experiment demonstrates the trustworthy and correction of the method in the paper.