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Dynamic Operational Limits for a Stair-Climbing, Tracked, Urban Robot
Technical Paper
2006-01-0930
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
Abstract
There is substantial interest in the development of man-portable unmanned ground vehicles (UGVs) to perform surveillance in urban environments. Many studies have been done on the control logic needed to guide the vehicles in autonomous and semi-autonomous modes. Less work has been done to assess the effectiveness of the controlled inputs on mobility performance.
A challenging mobility requirement for urban robots is to ascend stairs, including landings. Advanced multibody dynamics software is used to identify the mobility limits of a typical tracked robot during stair climbing maneuvers. Torque control is used to improve the dynamic behavior of the tracked robot.
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Citation
Ross, B., "Dynamic Operational Limits for a Stair-Climbing, Tracked, Urban Robot," SAE Technical Paper 2006-01-0930, 2006, https://doi.org/10.4271/2006-01-0930.Also In
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