Contact angle estimation and composite locomotive strategy of a stair-climbing mobile platform
A compact RockerBogie based mobile platform with high stair-climbing capability is developed via the Taguchi optimization. A simple, robust and cost-effective contact angle estimation using multiple tilt sensors is suggested. When climbing up the stairs, the mobile platform employs optimal torque control based on kinetic analysis. While climbing down, the mobile platform controls the velocity of each wheel based on kinematic analysis. Mobile stability of the proposed mobile platform is verified through extensive experiments using various sizes of stairs.
contact angle estimation composite locomotive strategy stair-climbing kinematic analysis rockerbogie mechanism