Introduction
Mobile robots are still an object of research and are popular as a subject of commercial applications. Some are designed to work in an urban space, where one of the most common mobility barriers are stairs.
The stair climbing task is performed by tracked machines. One of the exemplary solutions is described in [7], where such a robot is equipped with gyroscopes, a tilt sensor, a pair of cameras and a LADAR to support the move on a staircase. Another type of a robot which is able to climb and descent stairs is the hexapod “RHex” described in [8, 12]. The machine combines characteristics of tracked and walking robots for better manoeuvrability. The robots presented in two mentioned examples are unable to move in a horizontal direction, perpendicular to the climbing direction, to avoid unexpected obstacles such as human legs on stairs. Their mobility is insufficient because of the limited number of DOFs available.
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Walas, K. (2009). Static Equilibrium Condition for a Multi-leg, Stairs Climbing Walking Robot. In: Kozłowski, K.R. (eds) Robot Motion and Control 2009. Lecture Notes in Control and Information Sciences, vol 396. Springer, London. https://doi.org/10.1007/978-1-84882-985-5_19
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