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)
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| 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
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| 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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