Research Article

Stair Climbing Control for 4-DOF Tracked Vehicle Based on Internal Sensors

Table 1

Specification of the robot.

ParameterSymbolValue

Length of flat area in front ST155 [mm]
Length of flat area in MT470 [mm]
Length of flat area in rear ST155 [mm]
Radius of circular part in front ST84 [mm]
Radius of circular part in MT56 [mm]
Radius of circular part in rear ST84 [mm]
Mass of front ST2.1 [kg]
Mass of MT22.8 [kg]
Mass of rear ST1.6 [kg]
Centroid of -coordinate of front ST15 [mm]
Centroid of -coordinate of front ST15 [mm]
Centroid of -coordinate of MT0 [mm]
Centroid of -coordinate of MT45 [mm]
Centroid of -coordinate of rear ST−10 [mm]
Centroid of -coordinate of rear ST16 [mm]

MT: main tracks; ST: subtracks.