초록 ▼

A system and method for operating a device in ascending or descending stairs. The device has a plurality of wheels rotatable about axes that are fixed with respect to a cluster arm, where the cluster arm itself is rotated about an axis so that wheels rest on successive stairs. The wheels and cluster

A system and method for operating a device in ascending or descending stairs. The device has a plurality of wheels rotatable about axes that are fixed with respect to a cluster arm, where the cluster arm itself is rotated about an axis so that wheels rest on successive stairs. The wheels and cluster arms are controlled according to separate control laws by a controller. Whether the device ascends or descends the stairs is governed by the pitch of the device relative to specified front and rear angles. Shifting the center of gravity of the combination of device and payload governs the direction of motion of the device.

대표청구항 ▼

[ We claim:] [1.]1. A device for ascending and descending stairs, the device and any payload together constituting a system characterized by a center of gravity and a pitch, the device comprising:a. a cluster arm, rotatable about a cluster axis, the cluster arm characterized by a cluster angle;b. a

[ We claim:] [1.]1. A device for ascending and descending stairs, the device and any payload together constituting a system characterized by a center of gravity and a pitch, the device comprising:a. a cluster arm, rotatable about a cluster axis, the cluster arm characterized by a cluster angle;b. a plurality of ground contacting members rotatable about member axes fixed with respect to the cluster arm; andc. a motorized actuator for rotating the cluster arm about the cluster axis so as to cause the device to execute one of ascent and descent of the stairs based on an input that includes a shift of the center of gravity.