TY - JOUR T1 - Design, Manufacturing and Control of Stairs and Obstacles Traversing Robot (MSRox) TT - طراحی، ساخت وکنترل ربات عبورکننده از پله‌ها و موانع (MSRox) JF - mdrsjrns JO - mdrsjrns VL - 6 IS - 1 UR - http://mme.modares.ac.ir/article-15-7584-en.html Y1 - 2006 SP - 13 EP - 30 KW - Mobile Robot KW - Smart KW - Stair Climber KW - Wheeled N2 - Abstract MSRox is a wheeled mobile robot with two actuated degrees of freedom that has smooth motion on flat surfaces, and has the capability of climbing stairs and traversing obstacles and flexibility toward uphill, downhill and slope surfaces. MSRox with 82.916 cm in length, 54.10 cm in width and 29.249 cm in height has been designed to climb stairs with 10 cm in height and 15 cm in width; nevertheless, it has the capability of climbing stairs up to about 17 cm in height and unlimited width. In this paper, the motion systems and the capabilities of MSRox are described. Furthermore, experimental results of stair climbing and comparison of the results with others are presented. M3 ER -