Table 1.

System parameters of stair-climbing robot.

Symbol	Value	Unit
m	30	kg
R	0.08	m
r	0.11	m
H	0.15	m
W	0.25	m
$k_c$	1.0 × 106	N/m2
$k_D$	1.0 × 106	N/m2
$C_c$	2.5 × 105	Ns/m2
$C_D$	2.5 × 105	Ns/m2
$\mu$	0.3	-
${\mu }_D$	0.3	-