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| Analysis on the Stair-climbing Ability of Six-wheeled Mobile Robot |
| QIAO Feng-bin, YANG Ru-qing |
| Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200030, China |
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Abstract The PBJ-01 anti terrorism robot is a joint wheeled mobile robot, and it usually operates in an artificial environment in which most of the obstacles are stairs. This paper studies the stair-climbing ability of the PBJ-01 anti terrorism robot. By taking into considerations of such aspects as geometry containing, the robot center of gravity(CG) and the influence of maximum pitching angle on the possible overturning of the roobt, the paper puts forwards the necessary condition of stairs for the robot to be able to climb. With this scheme, the robot can choose the right actions between getting across and avoiding the obstacles.
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Received: 03 December 2003
Published: 15 July 2004
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