sTetro: A Modular Reconfigurable Cleaning Robot

Abstract

In this research work we are presenting a novel modular reconfigurable cleaning robot, sTetro. The developed robot platform uses a conveyor mechanism capable of navigating over flat floor as well as staircases significantly extending the cleaning capabilities of conventional robots. The mechanical design and system architecture are introduced, followed by a detailed description of our system modeling and controller design efforts. Experiments performed with the sTetro robot demonstrated the efficacy and validity of the developed system models and control approaches.