A kinect-sensor-based tracked robot for exploring and climbing stairs

I. Hsum Li, Wei Yen Wang*, Chien Kai Tseng

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

14 Citations (Scopus)


This paper focuses on the stair-climbing problem for a tracked robot. The tracked robot designed in this paper has the ability to explore stairs in an unknown indoor environment, climbing up and down the stairs, keeping balance while climbing, and successfully landing on the stair platform. Intelligent algorithms are proposed to explore and align stairs, and a fuzzy controller is introduced to stabilize the tracked robot,s movement during the exploration. An inexpensive Kinect depth sensor is the only equipment needed for all the control modes. Finally, experiments illustrate the effectiveness of the proposed approach for climbing stairs.

Original languageEnglish
Article numberA80
JournalInternational Journal of Advanced Robotic Systems
Issue number1
Publication statusPublished - 2014 May 21


  • Autonomous Robot
  • Stair-climbing
  • Tracked Robot

ASJC Scopus subject areas

  • Software
  • Computer Science Applications
  • Artificial Intelligence


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