2026-09-18T22:53:32Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/297012022-01-13T07:54:29Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Jamie Anderson and Leslie Kaelbling.
Narendran, Kailas, 1979-
Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2006-03-24T16:16:33Z
2006-03-24T16:16:33Z
2003
2003
http://hdl.handle.net/1721.1/29701
53888127
Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2003.
Includes bibliographical references (p. 71-73).
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.
by Kailas Narendran.
M.Eng.
73 p.
2494589 bytes
2494398 bytes
application/pdf
application/pdf
eng
Massachusetts Institute of Technology
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.
http://dspace.mit.edu/handle/1721.1/7582
Electrical Engineering and Computer Science.
Autonomous stair climbing
Thesis
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