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Track--Stair Interaction Analysis and Online Tipover Prediction for a Self-Reconfigurable Tracked Mobile Robot Climbing Stairs

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2 Author(s)
Yugang Liu ; Dept. of Aerosp. Eng., Ryerson Univ., Toronto, ON, Canada ; Guangjun Liu

This paper analyzes track-stair interactions and develops an online tipover prediction algorithm for a self-reconfigurable tracked mobile robot climbing stairs, which is vulnerable to tipping-over. Tipover prediction and prevention for a tracked mobile robot in stair climbing are intractable problems because of the complex track--stair interactions. Unlike the wheeled mobile robots, which are normally assumed to obey the nonholonomic constraints, slippage is unavoidable for a tracked mobile robot, especially in stair climbing. Furthermore, the track-stair interactive forces are complicated, which may take the forms of grouser-tread hooking force, track--stair edge frictional force, grouser-riser clutching force, and even their compositions. In this paper, the track--stair interactions are analyzed systematically, and tipover stability criteria are derived for a tracked mobile robot climbing stairs. An online tipover prediction algorithm is also developed, which forms an essential part for autonomous and semiautonomous stair-climbing control. The effectiveness of the proposed algorithms are verified by experiments.

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:14 ,  Issue: 5 )

Date of Publication:

Oct. 2009

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