Stanley Stephen College of Engineering & Technology

(Approved by AICTE, New Delhi, Affiliated to JNTU,

Anantapur)
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Department of Electronics and Communication Engineering
All Surface Staircase Climbing, Stability, Search and Rescue
Robot
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.
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