Autonomous Stair-Climbing With Miniature Jumping Robots

Abstract

The problem of vision-guided control of miniature mobile robots is investigated. Untethered mobile robots with small physical dimensions of around 10 cm or less do not permit powerful onboard computers because of size and power constraints. These challenges have, in the past, reduced the functionality of such devices to that of a complex remote control vehicle with fancy sensors. With the help of a computationally more powerful entity such as a larger companion robot, the control loop can be closed. Using the miniature robot's video transmission or that of an observer to localize it in the world, control commands can be computed and relayed to the inept robot. The result is a system that exhibits autonomous capabilities. The framework presented here solves the problem of climbing stairs with the miniature Scout robot. The robot's unique locomotion mode, the jump, is employed to hop one step at a time. Methods for externally tracking the Scout are developed. A large number of real-world experiments are conducted and the results discussed.

Quasi-static and dynamic mismatch for door opening and stair climbing with a legged robot

“…Furthermore, the sizing of the platform must be matched to the environment such that the kinematic workspace of the platform includes the knob or handle. Stair climbing has been addressed as both a quasi-static, high impedance, inverse kinematic problem [15], as well as a dynamic problem [16] [17] [18]. While all methods have produced results, it is unclear why we prefer a particular method over another with different morphologies and sizings.…”

Robot monitoring system of ocean remote sensing satellite receiving station

“…Even intelligent video monitoring system determines the video content, and abnormal status needs staff on duty to process [23][24][25]. Robot monitoring system of ocean remote sensing satellite receiving station not only identifies the video content and can handle the abnormal status, if it can not accurately identify video content and processing the abnormal status it can consult with staff on duty through a remote terminal, thereby reducing the intensity of the work remotely staff on duty, reducing maintenance costs of controlled system [26][27].…”

Autonomous jumping robot with regulable trajectory and flexible feet

“…22 Taking the advantage of deformation of a circular soft body made of spring shell, the robot could convert potential energy efficiently into gravitational energy during jumping. 23 Other examples of exploiting flexible components include stair hopping scout robot 24,25 and rescue jumping robot. 26 Enhancing ECE means making the most of on-board power and prolonging the operating time unless solar cell is on board.…”