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<p>Navigating unstructured and confined environments presents a significant challenge for robotic platforms. This paper presents ClimbNav-R, a dual-mode robotic system combining a re-engineered rocker-bogie chassis with a detachable seven-degree-of-freedom (7-DOF) climbing module. Its novelty lies in a decoupled, mechanically and kinematically integrated design, allowing each mode to be optimized for its specific function, enabling load-bearing transitions, enhanced climbing, and stable operation. ClimbNav-R employs kinematic modeling, PID control, and a hybrid bicycle-Ackermann steering approach to achieve stable ground and climbing mobility, while transition stability is ensured through detailed kinematic analysis of the mode-switching process. Experimental evaluations across five terrain types, including flat, inclined, and stepped surfaces, demonstrate the system’s ability to overcome 15 cm obstacles. Power consumption increased by 50 % on flat rough terrain, 30 % on inclined smooth terrain, and 100 % on inclined rough terrain compared to flat smooth terrain. Results validate ClimbNav-R’s performance and potential for outdoor applications. Future work targets autonomy and energy optimization.</p>

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ClimbNav-R: A dual-mode robot for seamless ground-to-vertical transitions in limited-access environments

  • 期刊论文

  • 发表日期：

    2026年5月11日

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  • Mohammed Alameer,
  • Liang Yao,
  • Xufeng Liu,
  • Fengmin Wu,
  • Zupeng Zhou

摘要

Navigating unstructured and confined environments presents a significant challenge for robotic platforms. This paper presents ClimbNav-R, a dual-mode robotic system combining a re-engineered rocker-bogie chassis with a detachable seven-degree-of-freedom (7-DOF) climbing module. Its novelty lies in a decoupled, mechanically and kinematically integrated design, allowing each mode to be optimized for its specific function, enabling load-bearing transitions, enhanced climbing, and stable operation. ClimbNav-R employs kinematic modeling, PID control, and a hybrid bicycle-Ackermann steering approach to achieve stable ground and climbing mobility, while transition stability is ensured through detailed kinematic analysis of the mode-switching process. Experimental evaluations across five terrain types, including flat, inclined, and stepped surfaces, demonstrate the system’s ability to overcome 15 cm obstacles. Power consumption increased by 50 % on flat rough terrain, 30 % on inclined smooth terrain, and 100 % on inclined rough terrain compared to flat smooth terrain. Results validate ClimbNav-R’s performance and potential for outdoor applications. Future work targets autonomy and energy optimization.