A cooperative network of reconfigurable stair-climbing robots

Abstract

The work area of a team of small robots is limited by their inability to traverse a very common obstacle: stairs. Control Layer 3 Behavio $ecti1 -Finis$s Machf We present a complete integrated control architecture and communication strategy for a system of reconfigurable robots Control Layer2 2AlilaNC eprhi onh Cirn Algoithbme that can climb stairs. A modular robot design is presented which allows the robots to dynamically reconfigure to traverse Control Layer RbotHarwareemrs, NhariH certain obstacles. This work investigates the implementation of a _ _ _ _ _ _ system of autonomous robots which can cooperatively reconfigure themselves to collectively traverse obstacles such as stairs. We tL3 Sign-rd Comunication Scheme present a complete behavior and communication system which facilitates this autonomous reconfiguration. The behavior and imulcationLayer 2ATDMMediaAc Pocl communication systems are validated by implementing them on a mobile robot platform synthesized specifically for this Al cat otLayrP awynchnnou4tlnrrtMossePossMg Hardwarel research. Experimental trials showed that the implementation of __a the behavior control systems was successful. Several successful stair climbing trials were accomplished. Improvements to the Fig. 1. Overview of the Proposed Control and Communication Architecture mechanical design are proposed.

A mobile robot with autonomous climbing and descending of stairs

“…Traversing stairs by connecting small identical robots is one approach. 2,3 Another unique strategy is a single miniature robot that jumps to traverse each step. 4 More commonly, robots with legs or leg and wheel combinations are used.…”

Using a pocket-filling strategy for distributed reconfiguration of a system of hexagonal metamorphic robots in an obstacle-cluttered environment

“…Other work [9] and [10] has addressed the locomotion of SR robots over irregular surfaces with "hills" or stair-like structures. Butler et al [9] present a rule set for distributed locomotion of layers of deformable cubic modules over obstacles on the surface.…”

Collision avoidance between a wheelchair front wheels and a step wall during step climbing using a care robot

“…Other reports of multiple vehicles cooperating to cross irregular terrain include those of Asama et al [12], who considered a forklift system, and Gaston et al [13], who studied stair climbing robots using a mechanism similar to that of Asama et al…”