Stair-climbing gait for a four-wheeled vehicle

被引：14
作者：
Nakajima, Shuro [1 ]
机构：
[1] Wakayama Univ, Fac Syst Engn, 930 Sakaedani, Wakayama 6408510, Japan
来源：
ROBOMECH JOURNAL | 2020年 / 7卷 / 01期
关键词：
Climbing stairs; Powered wheelchair; Four-wheeled vehicle; Personal mobility vehicle; RT-MOVER;
D O I：
10.1186/s40648-020-00168-z
中图分类号：
TH7 [仪器、仪表];
学科分类号：
0804 ; 080401 ; 081102 ;
摘要：
This paper proposes a stair-climbing gait for a four-wheeled vehicle. The idea and methodology of climbing stairs are described, and the results of experiments are shown. Crawler-type vehicles and vehicles with special, complicated mechanisms are commonly used for climbing continuous steps (stairs). In contrast, in this paper, a four-wheeled vehicle with additional degrees of freedom, whose mechanism is not as complicated, is discussed. A gait algorithm based on a pace gait is proposed, and its performance is evaluated.
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页数：8
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