%0 Journal Article
%T Research on Centroid Position for Stairs Climbing Stability of Search and Rescue Robot
%A Yan Guo
%A Aiguo Song
%A Jiatong Bao
%A Huatao Zhang
%J International Journal of Advanced Robotic Systems
%D 2011
%I InTech
%X This paper represents the relationship between the stability of stairs climbing and the centroid position of the search and rescue robot. The robot system is considered as a mass point-plane model and the kinematics features are analyzed to find the relationship between centroid position and the maximal pitch angle of stairs the robot could climb up. A computable function about this relationship is given in this paper. During the stairs climbing, there is a maximal stability-keeping angle depends on the centroid position and the pitch angle of stairs, and the numerical formula is developed about the relationship between the maximal stability-keeping angle and the centroid position and pitch angle of stairs. The experiment demonstrates the trustworthy and correction of the method in the paper.
%K centroid
%K stairs climbing
%K stability
%K search and rescue robot
%U http://www.intechopen.com/articles/show/title/research-on-centroid-position-for-stairs-climbing-stability-of-search-and-rescue-robot