{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/29701"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/29701","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Autonomous stair climbing","abstract":"As the face of warfare changes, the military has started to explore the application of robotics on the battlefield. Robots give soldiers a flexible, technologically advanced, disposable set of eyes and ears to assist them with their goal. This thesis deals with the design and implementation of a system to allow a small highly mobile tactical robot to climb stairs autonomously. A subsumption architecture is used to coordinate and control the maneuver. Various approaches to the problem including evolved architectures and use of contraction analysis are explored. Code was written and tested for functionality with basic test software. 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