Stair climbing of an articulated mobile robot via sequential shift

This paper presents a sequential stair climbing method for an articulated mobile robot. The robot has active wheeled links connected by active rotational joints. In the method, some parts of the robot's body defined as a connecting part are used to step over risers in stairs, and the robot climbs up stairs by shifting the connecting parts from forward to backward. A condition on which the robot can climb stairs by the proposed method is...