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Stair Climbing via Successive Perching

1 1 1 1 1 Rating 4.80 (49 Votes)


Stair Climbing via Successive Perching


Stairs are a primary challenge for mobile robots navigating indoor human environments. Stair climbing is a useful, if not necessary, capability for mobile robots in urban search and rescue, security, cleaning, telepresence, elder care, and different applications. Existing stair climbing robots are giant, expensive, and not continuously reliable, particularly when descending stairs. In this paper, we have a tendency to present a novel approach for stair climbing that's achievable by a small mobile robot with minimal actuators and sensors and, thus, value. The proposed robot has articulated tread assemblies on either aspect of a chassis. Using feedback control, the robot will balance on the edge of one step. As the robot drives up the step, the chassis pivots to keep up the center of mass directly higher than the contact purpose. The dynamics of the system are derived with the Lagrangian technique, and a discrete-time integral controller with friction compensation is designed to stabilize a stair climbing trajectory. The algorithms used to estimate the state of the system with low-value noisy proprioceptive sensors are explained well. No external motion capture system is employed. Simulation results are compared with successful experimental results.

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Stair Climbing via Successive Perching - 4.8 out of 5 based on 49 votes

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