Staircase climbing vacuum robot powered by the Jetson Nano and ROS

We built a staircase climbing vacuum robot at CMU under the supervision on Prof. Temel and Prof. Riviere. The robot can detect stairs, align with the stairs and climb them. A vacuum attached on the robot cleans the robot as it traverses the stairs using omniwheels. The state machine of the robot is implemented with smach on the jetson nano and low level controls are implemented on an Arduino Mega

Project page : StairMasters