Camillo J. Taylor, GRASP Lab, University of Pennsylvania - [home]

Urbie The Stair Climbing Robot


This project involved developing the software required to guide a tracked mobile platform up a staircase.We adopted a Gibsonian approach to the problem and developed a simple scheme that analyzed patches in the images to decide on the orientation of the vehicle with respect to the staircase. The entire scheme was implemented in real time on a 500MHz Pentium processor.


A robust voting scheme was used to determine the staircase orientation


A typical ascent

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