Research Article
Stair Climbing Control for 4-DOF Tracked Vehicle Based on Internal Sensors
Table 1
Specification of the robot.
| Parameter | Symbol | Value |
| Length of flat area in front ST | | 155 [mm] | Length of flat area in MT | | 470 [mm] | Length of flat area in rear ST | | 155 [mm] | Radius of circular part in front ST | | 84 [mm] | Radius of circular part in MT | | 56 [mm] | Radius of circular part in rear ST | | 84 [mm] | Mass of front ST | | 2.1 [kg] | Mass of MT | | 22.8 [kg] | Mass of rear ST | | 1.6 [kg] | Centroid of -coordinate of front ST | | 15 [mm] | Centroid of -coordinate of front ST | | 15 [mm] | Centroid of -coordinate of MT | | 0 [mm] | Centroid of -coordinate of MT | | 45 [mm] | Centroid of -coordinate of rear ST | | −10 [mm] | Centroid of -coordinate of rear ST | | 16 [mm] |
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MT: main tracks; ST: subtracks.
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