| Abstract: |  The goal of this thesis is to extend the motion capabilities of the hexapod walking robot
that will allow it to climb stairs located in front of the robot. A high traversability of this
type of robots in rough terrain is one of the main feature of walking robots. However, it
is at the cost of a higher complexity of their motion control because of a high number of
degrees of freedom. Therefore, the developed motion gait is based on a regular gait for
motion on planar surfaces. The proposed motion model has been further parametrized for
various stairs, which the robot should traverse.
Then, an automatic identification of the stairs parameters have been studied using a single
image of the stairs taken by a RGB-D camera. After an estimation of the parameters,
the most suitable stair climbing gait is automatically selected and the robot traverses the
stairs. The proposed motion gaits and image processing have been implemented and experimentally
verified with the PhantomX hexapod walking robot. The robot has been able to
traverse different stairs and provides experimental evidence of the proposed gaits. During
the experiments, we also found out that the success of the mission depends on estimated
parameters and because the parameters are estimated from a single image, it is necessary to
provide a clear view on the stairs.
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