Multi-sensor, high speed autonomous stair climbing

Daniel M. Helmick, Stergios I. Roumeliotis, Michael C. McHenry, Larry Matthies

Research output: Chapter in Book/Report/Conference proceedingConference contribution

62 Scopus citations


Small, tracked mobile robots designed for general urban mobility have been developed for the purpose of reconnaissance and/or search and rescue missions in buildings and cities. Autonomous stair climbing is a significant capability required for many of these missions. In this paper we present the design and implementation of a new set of estimation and control algorithms that increase the speed and effectiveness of stair climbing. We have developed: (i) a Kalman filter that fuses visual/laser data with inertial measurements and provides attitude estimates of improved accuracy at a high rate, and (ii) a physics based controller that minimizes the heading error and maximizes the effective velocity of the vehicle during stair climbing. Experimental results using a tracked vehicle validate the improved performance of this control and estimation scheme over previous approaches.

Original languageEnglish (US)
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Number of pages10
StatePublished - Jan 1 2002
Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
Duration: Sep 30 2002Oct 4 2002


Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems


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