Autonomous stair climbing
Name
53888127-MIT.pdf
Description
Full printable version
Size
7.75 MB
Format
Adobe PDF
Checksum (MD5)
95de5b09e76aaa1c2544cf74229762e8
Author(s)
Narendran, Kailas, 1979-
Advisor(s)
Jamie Anderson and Leslie Kaelbling.
Date Issued
2003
Publisher
Massachusetts Institute of Technology
Abstract
As the face of warfare changes, the military has started to explore the application of robotics on the battlefield. Robots give soldiers a flexible, technologically advanced, disposable set of eyes and ears to assist them with their goal. This thesis deals with the design and implementation of a system to allow a small highly mobile tactical robot to climb stairs autonomously. A subsumption architecture is used to coordinate and control the maneuver. Various approaches to the problem including evolved architectures and use of contraction analysis are explored. Code was written and tested for functionality with basic test software. The functionality of parts of the system and control architecture was tested on the robot in a simulated operational environment.
Description
Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2003.
Includes bibliographical references (p. 71-73).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
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