Study of a New Stair-Climbing and Obstacle-Traversing Robot
The author introduced a new stair-climbing and obstacle-traversing robot system. According to its working environment, the parameters of driving wheels were determined with the optimization target of rotation axis’s undulation amplitude; The gear ratios of the driving planetary gear train were determined by running resistance, which can realize the automatic switching between rotation and revolution; According to its applicable situation, the robot’s control system was designed as a human-machine interaction model.
L. W. Yue et al., "Study of a New Stair-Climbing and Obstacle-Traversing Robot", Advanced Materials Research, Vols. 211-212, pp. 686-690, 2011