Abstract
AbstractThis article presents an autonomous stair climbing procedure with multisensor feedback. The task is performed by the six-legged robot Messor. The control procedure is performed in a closed-loop, and requires appropriate measurements. The sensory system of the robot consists of a structural light system and a laser range finder. The first one provides information about the dimensions of stairs and the second one measures current pose of the robot on stairs. The execution of the procedure is fully automatic. Once the stairs are found no other external input to the system is required till the top of the stairs. The climbing strategy was developed in simulation and then transferred to the real robot controller. The Messor robot is able to climb stairs of different sizes, and thanks to the sensory feedback copes well with the imperfectness of the environment.
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