1A1-U05 Change in the Center of Gravity Position for Passive Adaptive Crawler Robot Considering Attitude Angle of Manipulator at Stair-climbing

Abstract

This paper describes about relationship between attitude angle of the manipulator for environmental measurement which is equipped with passive adaptive crawler robot and change in the center of gravity position for passive adaptive crawler robot, first, in order to derive the traversable conditions for simple step, created the model. Second, the traversable conditions for simple step obtained from the model was examined adaptable as Stair-climbing sequence. As a result, it is suspected that Stair-climbing sequence has the same as traversable conditions for simple step. Lastly conducted demonstration experiments to verify the effectiveness of the expression.