STARCLY robot — A novel compact stair climbing robot

摘要

In this paper, we describes a new design of a robot that is suitable for climbing up and down stairs. This design combines the advantage of using tracks and the robotic arm linkages to achieve robust climbing under the real-world conditions. Simulation models were initially used to develop the climbing sequences and later applied on a real prototype. System architecture of the robot is presented. All experimental and refinement of the climbing sequences was carried out using the prototype and the final product is an autonomous robot that is able to climb the stairs successfully.