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Table 2 Experimental setup

From: Stair-climbing gait for a four-wheeled vehicle

Footstep angle of the steering axis33 deg
Angular velocity of the steering axis14.3 deg/s
Velocity of a moving wheel0.16 m/s
Seat slider LR0.20/− 0.20 m (moving wheel: left/right)
Seat slider FB0.26 m
\(\theta _h\) in Fig. 735 deg
h in Fig. 70.51 m
\(l_1\) in Fig. 70.18 m
\(l_2\) in Fig. 70.23 m
\(l_3\) in Fig. 70.30 m
Weight of the upper part including the driver85 kg
Weight of the lower part72 kg
Threshold of the steering torque50 N
Target seat rolling axis angle during step detection4/− 4 deg (moving wheel: left/right)
Angular velocity of the steering axis during step detection7.2 deg/s
Velocity of a moving wheel during step detection0.21 m/s
\(\theta _1\) in Fig. 7 (due to exceeding the angle limitation of the pitch axis)8 deg