Autonomous stair climbing for RAPOSA

This video demonstrates an algorithm for the autonomous stair climbing of a tracked robot (RAPOSA, http://raposa.isr.ist.utl.pt ), using only pitch and roll angles, as measured by accelerometers sensors. A skilled human operator is required to climb stairs manually, therefore, doing so autonomously allows for a more efficient robot operation in search and rescue scenarios. Results have shown that the proposed algorithm was capable of climbing several kinds of stairs. An empirical evaluation comparing the proposed control algorithm with human teleoperation was also conducted, showing an overall more reliable and faster operation in the majority of the tests. This difference is even more significant when the human operator is limited to the camera view of the robot, which is the most common situation on the field.

Category:

Science & Technology

Tags:

• robotics
• field robots
• search and rescue
• stair climbing
• autonomous

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[bebeheuy]

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[bundawartini]

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[burkily19]

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[peacekamu]

Great! LIKE IT. But then, can the robot turn and get down the stairs? (: