Operating modes for stair climbing in a cluster-wheel vehicle
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United States of America Patent
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-
Feb 5, 2002
Grant Date -
May 31, 2001
app pub date -
Jan 9, 2001
filing date -
Mar 15, 1999
priority date (Note) -
In Force
status (Latency Note)
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Abstract
A method for operating a device 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.
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