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Analysis on the Stair-climbing Ability of Six-wheeled Mobile Robot
Author(s): 
Pages: 301-305
Year: Issue:  4
Journal: ROBOT

Keyword:  关节轮移动机器人俯仰角包容地形;
Abstract: 研究了PBJ-01防暴机器人攀越楼梯的能力.从机器人对楼梯的几何包容、机器人重心和机器人爬楼梯过程中的最大俯仰角对机器人倾覆的影响等多方面考虑,得出机器人能够爬越楼梯时楼梯参数必须满足的条件.在该机器人的行为决策中,为其选择越障还是避障提供了依据.
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