Laser Detection and Fast Negotiation of Steps with Unknown Position and Height by a Variable-Structure-Type 4-Wheeled Robot

We are developing a simple variable-structure-type 4-wheeled robot that maneuvers over steps, having enabled it to step dynamically over steps of known height and of unknown height within a known small range. We consider cdntrol enabling it to negotiate steps whose height and position are unknown by detecting step position and height using a laser range sensor. We propose in-process planning of a dynamic trajectory during an experiment, enabling the robot to quickly negotiate steps whose position and height are both unknown.