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Journal of Robotics
Volume 2017, Article ID 3624589, 18 pages
Research Article

Stair Climbing Control for 4-DOF Tracked Vehicle Based on Internal Sensors

1Graduate School of Engineering, Tohoku University, Aramaki-aza Aoba 468-1, Aoba-ku, Sendai 980-0845, Japan
2New Industry Creation Hatchery Center, Tohoku University, Aramaki-aza Aoba 6-6-10, Aoba-ku, Sendai 980-8579, Japan

Correspondence should be addressed to Daisuke Endo;

Received 6 May 2017; Accepted 13 August 2017; Published 11 October 2017

Academic Editor: Gordon R. Pennock

Copyright © 2017 Daisuke Endo et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In search-and-rescue missions, multi-degrees-of-freedom (DOF) tracked robots that are equipped with subtracks are commonly used. These types of robots have superior locomotion performance on rough terrain. However, in teleoperated missions, the performance of tracked robots depends largely on the operators’ ability to control every subtrack appropriately. Therefore, an autonomous traversal function can significantly help in the teleoperation of such robots. In this paper, we propose a planning and control method for 4-DOF tracked robots climbing up/down known stairs automatically based on internal sensors. Experimental results obtained using mockup stairs verify the effectiveness of the proposed method.