1. Lassie Don't Surf – Making the Aibo Tackle the Hill
Patrick Hart
Justin McHugh
Rachel Pocino
Robotics – Spring 2005

2. Plan of Attack
The Aibo will follow an object (like the pink ball) over rough terrain. Therefore, we will enable the Aibo to walk:
Up an incline (~60°)
Down a decline (~60°)
Up stairs (~8 inches)
Down stairs (~8 inches)

3. How to Accomplish
For inclines and declines, we're going to implement a crab/insect style walk that should give the Aibo the stability it will need for the angles
For the stairs, the Aibo will use the infrared sensor to see if the stair is low enough to climb. If so, he will raise/lower his front paws onto it and pull himself up/down.

4. Possible Problems
The infrared sensor is noisy and might yield inaccurate results
The angles might be too steep for the Aibo
Stairs are probably going to have to be very deep

5. Timeline 4/6: Perfect the new walk
4/20: Perfect walking the inclines/declines
5/7: Perfect stairs