A locomotive strategy for a stair-climbing mobile platform based on a new contact angle estimation

This paper presents a locomotive strategy for a stair-climbing mobile platform built on a rocker-bogie platform, which can surmount indoor stairs or steps by virtue of a new contact angle estimation method. First, link parameters of the rocker-bogie mechanism are optimized through the Taguchi method, with the aim of making the trajectory of the center of mass (CM) of the mobile platform as smooth as possible. Based on the optimization result,...