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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Suyang Yu Ting Wang Yuechao Wang Di Zhi Chen Yao Xiaofan Li Zhong Wang Yu Luo Zhidong Wang |
| Copyright Year | 2012 |
| Description | Author affiliation: Department of Advanced Robotics, Chiba Institute of Technology, Chiba, Japan (Zhidong Wang) || Stake Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China (Suyang Yu; Ting Wang; Yuechao Wang; Di Zhi; Chen Yao; Xiaofan Li; Zhong Wang; Yu Luo) |
| Abstract | 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. |
| Starting Page | 88 |
| Ending Page | 93 |
| File Size | 863425 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781467322386 |
| e-ISBN | 9781467322379 |
| e-ISBN | 9781467322362 |
| DOI | 10.1109/ICInfA.2012.6246788 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2012-06-06 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | tip-over and slippage stability Wheelchair robot Wheelchairs Robot kinematics Stability criteria Wheels Variable Geometry Single Tracked Mechanism stair-climbing Mobile robots |
| Content Type | Text |
| Resource Type | Article |
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