# Geometric Tipping Stability Model for Stair Climbing Robot

- Author:
- etotheitauequalsone

-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.