Design of A Wheel-Legged Stair Climbing Robot

This paper presents a wheel-legged robot capable of overcoming steps and climbing stairs with six linear actuators as legs. With its control algorithm, this design can conquer irregular stairs with high operation stability. We built our physical prototype and developed the climbing procedures for a single stair and multiple stairs. Experiment results showed the feasibility of our mechanical design and the effectiveness of its climbing algorithms. The leg-wheel platform design and climbing algorithms show the potential application in various areas include service robots, goods transportation, and wheelchairs.