Research Article
Stair Climbing Control for 4-DOF Tracked Vehicle Based on Internal Sensors
Table 2
Relationship between motion phases and failure modes.
| Motion phases (MP) | Failure modes (FM) | I slipping | II falling backward | III direction error | IV excessive shock |
| Ascend | (i) Entering | Easy to occur and critical | Hard to occur | Does not happen if the slipping is prevented | (ii) Normal climbing | (i) Hard to occur (ii) Not critical because of grousers (=Assumption) | Easy to occur and critical | (i) Hard to occur (ii) Not critical | (iii) Leaving | Hard to occur if it was prevented in normal climbing | Easy to occur and critical |
| Descend | (i) Ready | Hard to occur | (ii) Entering | Hard to occur | Easy to occur and critical | Hard to occur | Easy to occur and critical | (iii) Normal climbing | (i) Hard to occur (ii) Not critical because of grousers | Easy to occur and critical | (i) Hard to occur (ii) Not critical | (iv) Leaving | (i) Easy to occur (ii) Not critical except for excessive shock | Hard to occur if it was prevented in normal climbing | Easy to occur and critical |
|
|