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Autonomous stair-climbing with miniature jumping robots.

Sascha A Stoeter1, Nikolaos Papanikolopoulos

  • 1Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology (ETH), Zurich, Switzerland. sstoeter@ethz.ch

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
|April 15, 2005
PubMed
Summary

This study introduces a vision-guided control system for miniature mobile robots, enabling autonomous capabilities like stair climbing by leveraging a companion robot for computation and localization.

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Area of Science:

  • Robotics
  • Computer Vision
  • Artificial Intelligence

Background:

  • Miniature mobile robots face limitations in onboard computing power due to size and energy constraints.
  • Previous miniature robots were often relegated to remote-controlled functions, lacking true autonomy.
  • External computational support is necessary to overcome onboard limitations.

Purpose of the Study:

  • To investigate vision-guided control for miniature mobile robots.
  • To enable autonomous capabilities, specifically stair climbing, in small robots.
  • To develop a framework for overcoming computational and localization challenges.

Main Methods:

  • Utilizing a larger companion robot for external computation and control.
  • Employing video transmission for robot localization within its environment.

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  • Developing external tracking methods for the miniature robot.
  • Implementing a unique jumping locomotion for stair traversal.

    • Main Results:

    • Demonstrated a system capable of closing the control loop for miniature robots.
    • Successfully enabled the Scout robot to climb stairs using its jumping locomotion.
    • Validated the framework through numerous real-world experiments.

    Conclusions:

    • External computation and vision-based localization significantly enhance miniature robot autonomy.
    • The presented framework effectively addresses the challenges of controlling resource-constrained robots.
    • The Scout robot's stair-climbing ability showcases the potential of this approach.