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《Electro-Mechanical Engineering》 2006-02
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A Study on Stair-climbing Performance of Articulated-tracked Mobile Robot

CHEN Hui-bao,LI Ting,XU Jie-min(Shanghai University,School of Mechatronics and Automation,Shanghai 200072,China)  
The stair-climbing ability is one of important obstacle negotiation performances of robot.By analyzing aspects of the change of center of mass during stair-climbing,and stability of motion,this paper presents a series of kinematics simulation experiments of stair-climbing motion to optimize parameters.The simulation can also help to improve the feasibility of the design and the stability of motion.
【Fund】: 863机器人技术主题重大专项(2004AA420110)
【CateGory Index】: TP242
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