Stair Climbing Control for 4-DOF Tracked Vehicle Based on Internal Sensors

Daisuke Endo, Atsushi Watanabe, Keiji Nagatani

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


In search-and-rescue missions, multi-degrees-of-freedom (DOF) tracked robots that are equipped with subtracks are commonly used. These types of robots have superior locomotion performance on rough terrain. However, in teleoperated missions, the performance of tracked robots depends largely on the operators' ability to control every subtrack appropriately. Therefore, an autonomous traversal function can significantly help in the teleoperation of such robots. In this paper, we propose a planning and control method for 4-DOF tracked robots climbing up/down known stairs automatically based on internal sensors. Experimental results obtained using mockup stairs verify the effectiveness of the proposed method.

Original languageEnglish
Article number3624589
JournalJournal of Robotics
Publication statusPublished - 2017

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)


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