中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
A tip-over and slippage stability criterion for stair-climbing of a wheelchair robot with Variable Geometry Single Tracked Mechanism

文献类型:会议论文

作者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)
出版日期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
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.

入库方式: OAI收割

来源:沈阳自动化研究所

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