Development of a stair traversing two wheeled robot

Huei Ee Yap*, Shuji Hashimoto

*Corresponding author for this work

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

    8 Citations (Scopus)


    This paper presents a novel approach for stabilizing a two wheeled mobile robot while traversing down a stair terrain. During flight, the drive wheels of the mobile robot are used as control input to generate reaction torque to alter the pre-impact landing angle, ensuring a successful landing. A state dependent feedback control scheme is used for continuous step traversing while keeping the robot upright. Relationships between travel velocity, height of step and landing angle were investigated. The proposed approach was simulated using physics simulation engine and a physical prototype was constructed to confirm simulation findings. Results were compared with conventional two wheeled robot control scheme and effectiveness of proposed approach was confirmed.

    Original languageEnglish
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    Number of pages7
    Publication statusPublished - 2012
    Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve
    Duration: 2012 Oct 72012 Oct 12


    Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
    CityVilamoura, Algarve

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications


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