CONTROLO 2016 pp 361-371 | Cite as

Wheels for Staircases

  • Fátima Silva LeiteEmail author
  • Jorge Batista
  • Krzysztof Krakowski
  • André Carvalho
  • Tiago Cruz
  • Eduardo Domingues
  • André Lizardo
  • Gonçalo Saraiva
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 402)


Our objective is to design innovative robot wheels capable of rolling on staircases, without sliding and without bouncing. This is the first step to reach the ultimate goal of building wheelchairs capable to overcome the obstacles imposed by staircases on people with limited mobility. We show that, given a staircase with equal steps, there is an infinite number of wheels that roll over it, with the constraints of no-sliding and no-bouncing. Some of these wheels appear to be very interesting for real applications. We also present an algorithm for the construction of a wheel, which depends only on the measures of the tread (the part of the staircase that is stepped on) and the riser (the vertical portion between each tread) of the step.


Robot wheels Stairs climbing wheels Rolling Bouncing Sliding Bernoulli spirals 


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Copyright information

© Springer International Publishing Switzerland 2017

Authors and Affiliations

  • Fátima Silva Leite
    • 1
    • 2
    Email author
  • Jorge Batista
    • 1
    • 3
  • Krzysztof Krakowski
    • 1
    • 4
  • André Carvalho
    • 6
  • Tiago Cruz
    • 2
  • Eduardo Domingues
    • 3
  • André Lizardo
    • 5
  • Gonçalo Saraiva
    • 2
  1. 1.Institute of Systems and Robotics, University of CoimbraCoimbraPortugal
  2. 2.Department of MathematicsUniversity of CoimbraCoimbraPortugal
  3. 3.Department of Electrical Engineering and ComputersUniversity of CoimbraCoimbraPortugal
  4. 4.Wydział Matematyczno-PrzyrodniczyUniwersytet Kardynała Stefana WyszyńskiegoWarsawPoland
  5. 5.Department of Informatics EngineeringUniversity of CoimbraCoimbraPortugal
  6. 6.Department of Electrical Engineering and ComputersUniversity of LisbonLisboaPortugal

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