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 presented. Simulation results confirm the effectiveness of the proposed method.