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From: rstevew@armory.com (Richard Steven Walz)
Subject: Re: Stair Climbing Robot
Organization: The Armory
Date: Sat, 17 Sep 1994 14:07:15 GMT
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In article <Cw31Fo.HD0@newbridge.com>,
Sisinio Baldis <sisinio_baldis@qmail.newbridge.com> wrote:
>Has anyone seen a good design for a robot that can climb stairs?
>Thanks in advance,
>Sisinio.
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There has been on the market for some time a leaning treaded wheelchair for
in-home or building use which leans its whole upper assembly on a heavy low
treaded motor assembly to climb moderate stairs. They are quite expensive,
that is, the wheel-chair for the person who can afford anything! I suppose
the lean is controlled by a simple lightly damped pendulum sensor in 2
dimensions. The trick is a very low center of mass and treds suitable to
the friction coefficients inherent. Alternately, one could make a simple
hexwalker that could bring its legs forward far enough on both leg frames.
-Steve Walz   rstevew@armory.com

