Research on Centroid Position for Stairs Climbing Stability of Search and Rescue Robot

24 ISSN 1729‐8806, pp. 25‐32 Research on Centroid Position for Stairs Climbing Stability of Search and Rescue Robot Yan Guo1,2, Aiguo Song1, Jiatong Bao1, Huatao Zhang1, and Hongru Tang3 1School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China 2Beckman Institute, University of Illinois at Urbana‐Champaign, Urbana 61801, Illinois, USA 3School of Energy and Power Engineering, Yangzhou University, Yangzhou 225009, China Corresponding author E‐mail: [email protected] and [email protected] Abstract: This paper represents the relationship between the stability of stairs climbing and the centroid position of the search and rescue robot. The robot system is considered as a mass point‐ plane model and the kinematics features are analyzed to find the relationship between centroid position and the maximal pitch angle of stairs the robot could climb up. A computable function about this relationship is given in this paper. During the stairs climbing, there is a maximal stability‐keeping angle depends on the centroid position and the pitch angle of stairs, and the numerical formula is developed about the relationship between the maximal stability‐keeping angle and the centroid position and pitch angle of stairs. The experiment demonstrates the trustworthy and correction of the method in the paper.