Online Stair-climbing Control Based on the Combined Motion Planning of Transformable Tracked Robot

As one of the most typical artificial environments,stairway presents a serious challenge to search and rescue robot in the ruins.To ensure that the robot can climb stairs with enough capability and stability,an online prediction control method for the stair-climbing of a robot,which is based on the analysis of the stair-climbing of a transformable tracked robot named as Amoeba-II,is proposed and developed.This method is not only applicable for the normal mobile robot,but also for the isomerism-modules robot with different mechanism modules.Based on the kinematics and quasi-static analysis of each stage which is determined by the motion planning for the stair-climbing procedure,the motion-coordination criterion and the crossing criterion for the robot has been established.Meanwhile,the interference-avoiding criterion is set up to avoid the interference between the non-tracked module of the robot and the stair.Based on the identification of the stair,the method can predict the stair-climbing capacity and the stability for combined motion-planning.The experiment for the stair-climbing of the robot is performed to certify the validity of the proposed online prediction method.