Autonomous stair climbing
Author(s)
Narendran, Kailas, 1979-
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Other Contributors
Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
Advisor
Jamie Anderson and Leslie Kaelbling.
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Show full item recordAbstract
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).
Date issued
2003Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer SciencePublisher
Massachusetts Institute of Technology
Keywords
Electrical Engineering and Computer Science.