Geometric Tipping Stability Model for Stair Climbing Robot
-Slide "lowerPosSlider" to adjust the position of point E (the lower support). -Model assumes that the robot has finished the vertical scaling part of the wall climb and is now attempting to perform the "up and over" part. -Slides cogRelY, cogRelX, and chassisLength allow the horizontal and vertical distance of the center of gravity and the length of chassis to be adjusted. -All lengths are in cm. -Large circle represents center of gravity. Vector extending downward is in direction of gravity. If point N (the intersection of the vector and the x-axis) crosses E before A, the robot will tip. If it crosses A before E, the robot will be stable.