A tip-over and slippage stability criterion for stair-climbing of a wheelchair robot with Variable Geometry Single Tracked Mechanism

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	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)
	2012
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
关键词	Geometry Stability criteria Stairs Wheelchairs
页码	88-93
通讯作者	于苏洋
中文摘要	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.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	2012 IEEE International Conference on Information and Automation, ICIA 2012
会议录出版者	IEEE Computer Society
会议录出版地	Washington, DC
语种	英语
ISBN号	978-1-4673-2238-6
WOS记录号	WOS:000318899300017
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/9863]
专题	沈阳自动化研究所_机器人学研究室
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]. 见:2012 IEEE International Conference on Information and Automation, ICIA 2012. Shenyang, China. June 6, 2012 - June 8, 2012.