Urbie The Stair Climbing Robot

Abstract

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

Related Publications

• Solomon Steplight, Geoffrey Egnal, Sang-Hack Jung, Daniel B. Walker, Camillo J. Taylor and James P. Ostrowski "A Mode-Based Sensor Fusion Approach to Robotic Stair-Climbing" IROS pp. 1113-1118 November 2000