Stair Recognition with Laser Range Scanning by ASTERISK

Stair recognition with laser range scanning for continuous stair climbing by limb mechanism "ASTERISK" is proposed. In this research, laser range scanning is divided into rough scan for fast scanning, and precise scan for range scanning. We use 2D laser range finder attached with motor for 3D laser range scanning. As a result of the experiment, the robot could recognize a stair position and posture even it is located at the physical limitation of laser range finder which is 4 m and detect the actual stair up to 6 out of 10 steps which the height is about 5 times of "ASTERISK" normal posture standing height. After robot recognized a stair, it will automatically walk toward the stair and climb up while considering its body stability and leg(s) workspace at all time.