Research on Autonomous Stairs Climbing for the Shape-shifting Robot

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	Research on Autonomous Stairs Climbing for the Shape-shifting Robot
	Li B(李斌); Chang J(常健); Zhu LC(朱林仓)
	2015
会议名称	2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2015)
会议日期	October 18-20, 2015
会议地点	West Lafayette, USA
关键词	Stair climbing Shape-shifting robot Track-stair interactions Autonomous control
页码	1-6
中文摘要	In this paper, we present an algorithm for a shape-shifting robot climbing stairs autonomously. The robot has been used several times for search and rescue missions. Because of the special environment of tasks, the robot must have the ability to climb stairs autonomously to help the operators. Due to the characters of robot in “T” configuration, the mathematical model of force is established and the whole process of climbing stairs is analyzed. Grouser-tread hooking, track-stair edge frictional force et al. are all considered during the process of climbing. A description of its dynamic model is also presented which is involved in the controller. The controller is comprised of center control and heading control, which can help the robot climb stairs safely and quickly. The effectiveness of the algorithms proposed are verified by experiment.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	SSRR 2015 - 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
WOS记录号	WOS:000380560400003
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/17473]
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	Li B,Chang J,Zhu LC. Research on Autonomous Stairs Climbing for the Shape-shifting Robot[C]. 见:2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2015). West Lafayette, USA. October 18-20, 2015.