On Design and Development of an Intelligent Mobile Robotic Vehicle for Stair-Case Navigation

Ray, R.K.; Bepari, Bikash; Bhaumik, Subhasis

doi:10.1007/978-3-642-11676-6_5

Cited by 7 publications

(7 citation statements)

References 26 publications

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“…The solid blue lines in Figure 3 record experiments using the robot with this controller, on the same hill as before, with a wide variety of initial angles (including one facing directly downhill) forced successfully toward the heading of steepest ascent 8 . It is intuitively clear (but, adhering to the intended informal scope of the present paper, we will not rigorously prove) that this controller yields a closed loop system when applied to the unicycle plant model, equations (1)- (4), respecting which the terrain height, η, represents a LaSalle function 4 This pitch change can be easily derived from the geometry of the C-shaped legs. 5 The details of σ F are not important, but it is basically a well filtered edge detector that is tuned to be sensitive to the magnitudes and frequencies of typical stairwells as seen by a laser scanner sweeping through a range of pitches.…”

Section: Description Of Autonomous Behaviorsmentioning

confidence: 94%

“…Past work in hill climbing has reported either simulation results only [9] or achieved success only through recourse to detailed terrain labeling and mapping so as to preclude failure by entrapment from minor obstacles [3,10]. Prior work on general autonomous stairwell negotiation also has been largely focused on simulation studies [11], with almost all empirical work confined to the traversal of a single flight and yaw control on the stairs (summarized in [4]). The only prior report we have found documenting empirical work over multiple flights of stairs assumed a very specific, simple landing geometry [12]; we intentionally target a great diversity.…”

Section: B Contributionsmentioning

confidence: 99%

“…Unlike many robots that attach a LIDAR unit to a motorized tilting mechanism, we use RHex's natural ability to self-manipulate to a variety of angles in order to sweep the LIDAR's sensing plane. This maneuver produces a large variation in body pitch (either up or down) with minimal internal forces or toe slip 4 , and is depicted in Figure 4. A more precise treatment of robot self manipulation RHex will be presented in an upcoming paper [22].…”

Section: ) Plane Sensormentioning

confidence: 99%

“…We focus on two scenarios generally acknowledged to hold great importance yet still pose considerable difficulty for existing man-portable mobile robots: the autonomous climbing of cluttered, forested hillsides [3] (Figure 1); and multi-flight stairwells in indoor settings [4] (Figure 2). In each scenario, we posit a very simple, deterministic world model and an equally simple deterministic perceptual model, along with a family of feedback controllers selected using (a sometimes slightly relaxed form of) sequential composition [2] in a manner that seems intuitively sufficient to achieve the specified navigation task.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Autonomous legged hill and stairwell ascent

Johnson

Hale

Haynes

et al. 2011

2011 IEEE International Symposium on Safety, Security, and Rescue Robotics

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This paper documents near-autonomous negotiation of synthetic and natural climbing terrain by a rugged legged robot, achieved through sequential composition of appropriate perceptually triggered locomotion primitives. The first, simple composition achieves autonomous uphill climbs in unstructured outdoor terrain while avoiding surrounding obstacles such as trees and bushes. The second, slightly more complex composition achieves autonomous stairwell climbing in a variety of different buildings. In both cases, the intrinsic motor competence of the legged platform requires only small amounts of sensory information to yield near-complete autonomy. Both of these behaviors were developed using X-RHex, a new revision of RHex that is a laboratory on legs, allowing a style of rapid development of sensorimotor tasks with a convenience near to that of conducting experiments on a lab bench. Applications of this work include urban search and rescue as well as reconnaissance operations in which robust yet simple-to-implement autonomy allows a robot access to difficult environments with little burden to a human operator. Abstract -This paper documents near-autonomous negotiation of synthetic and natural climbing terrain by a rugged legged robot, achieved through sequential composition of appropriate perceptually triggered locomotion primitives. The first, simple composition achieves autonomous uphill climbs in unstructured outdoor terrain while avoiding surrounding obstacles such as trees and bushes. The second, slightly more complex composition achieves autonomous stairwell climbing in a variety of different buildings. In both cases, the intrinsic motor competence of the legged platform requires only small amounts of sensory information to yield near-complete autonomy. Both of these behaviors were developed using X-RHex, a new revision of RHex that is a laboratory on legs, allowing a style of rapid development of sensorimotor tasks with a convenience near to that of conducting experiments on a lab bench. Applications of this work include urban search and rescue as well as reconnaissance operations in which robust yet simple-to-implement autonomy allows a robot access to difficult environments with little burden to a human operator.

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Section: Description Of Autonomous Behaviorsmentioning

confidence: 94%

Section: B Contributionsmentioning

confidence: 99%

Section: ) Plane Sensormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Autonomous legged hill and stairwell ascent

Johnson

Hale

Haynes

et al. 2011

2011 IEEE International Symposium on Safety, Security, and Rescue Robotics

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“…Bansal et al [1] detect and localize stairways while constructing a map, but do not assess traverability. Several methods [2], [3], [4] perform detection and traversal, but do not model the pose or location of the stairway and and simply, immediately initiate a climbing mechanism. Although these capabilities are related to our problem scenario, immediate climbing is not necessarily compatible with a mapping task.…”

Section: A Backgroundmentioning

confidence: 99%

Ascending stairway modeling: A first step toward autonomous multi-floor exploration

Delmerico

Corso

Baran

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Many robotics platforms are capable of ascending stairways, but all existing approaches for autonomous stair climbing use stairway detection as a trigger for immediate traversal. In the broader context of autonomous exploration, the ability to travel between floors of a building should be compatible with path planning, such that the robot can traverse a stairway at a time that is appropriate to its navigation goals.No system yet presented is capable of both localizing stairways on a map and estimating their properties, functions that in combination would enable stairways to be considered as traversable terrain in a path planning algorithm. We propose a method for modeling stairways as objects and localizing them on a map, such that they can be subsequently traversed if they are of dimensions that the robotic platform is capable of climbing. Our system consists of two parts: a computationally efficient detector that leverages geometric cues from depth imagery to detect sets of ascending stairs, and a stairway modeler that uses multiple detections to infer the location and parameters of a stairway that is discovered during exploration. This video demonstrates the performance of the system in a number of real-world situations, modeling and localizing a variety of stairway types in both indoor and outdoor environments.

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Autonomous Stairwell Ascent

Ilhan¹,

Johnson²,

Koditschek³

2019

Robotica

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SummaryThis paper documents autonomous multi-floor stairwell ascent by a legged robot. This is made possible through empirically deployed sequential composition of several reactive controllers, with perceptually triggered transitions. This composition relies on simplified assumptions regarding the robot’s sensory capabilities, its level of mobility, and the environment it operates in. The discrepancies between these assumptions and the physical reality are capably handled by the intrinsic motor competence of the robot. This behavior is implemented on the legged RHex platform and experiments spanning 10 different stairwells with various challenges are conducted.

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On Design and Development of an Intelligent Mobile Robotic Vehicle for Stair-Case Navigation

Cited by 7 publications

References 26 publications

Autonomous legged hill and stairwell ascent

Autonomous legged hill and stairwell ascent

Ascending stairway modeling: A first step toward autonomous multi-floor exploration

Autonomous Stairwell Ascent

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