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Stair Climbing is a key functionality desired for robots deployed in Urban Search and Rescue (USAR) scenarios. A novel compliant modular robot was proposed earlier to climb steep and big obstacles. This work extends the functionality of this robot to ascend and descend stairs of dimensions that are also typical of an urban setting. Stair Climbing is realized by equipping the robot's link joints with...
A novel compliant robot is proposed for traversing on unstructured terrains. The robot consists of modules, each containing a link and an active wheel-pair, and neighboring modules are connected using a passive joint. This type of robots are lighter and provide high durability due to the absence of link-actuators. However, they have limited climbing ability due to tendency of tipping over while climbing...
In this paper we propose a semi-active robot for climbing steep obstacles like steps, curbs, etc. The key novelty of the proposed robot lies in the use of a passive mechanism for climbing steps of smaller heights and motor only while climbing steps of bigger heights. Analysis of the robot's stability during its ascent phase is also investigated. Model based control is used to achieve step climbing...
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