@inproceedings{e493f0bbbcd3425bb5e41d62d1e11529,
title = "Step-climbing ability research of a small scout wheel-track robot platform",
abstract = "The wheel-track robot is a new type of mobile robot combining a wheel and a track in a single component, which can quickly switch between in wheel mode and track mode. We present a small to explain the robot's working principle and operating mode; after that based on statics equation obstacle-climbing abilities are analyzed in different modes-wheel mode, track mode, wheel-tail mode and track-tail mode, from which the maximum theoretical obstacle-climbing heights and necessary torques of motors are obtained; at last, we choose three different heights of steps to wheel-track robot and its mechanical design and control system experiment, and the robot finally succeed crossing obstacles in wheel or track-tail modes. The result shows that theoretical analysis and the robot's design are reasonable. Compared with traditional wheeled robot, the wheel-track robot has a better obstacle-climbing ability.",
keywords = "mobile robot, obstacle-climbing, wheel-track",
author = "Wenzeng Guo and Yu Mu and Xueshan Gao",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 ; Conference date: 06-12-2015 Through 09-12-2015",
year = "2015",
doi = "10.1109/ROBIO.2015.7419083",
language = "English",
series = "2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2097--2102",
booktitle = "2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015",
address = "United States",
}