Stratified motion planning concept in stair-like environment

This paper addresses the motion planning of stratified systems (like legged robots) in non-smooth (or called also stair-like) environment and discusses also some limitations. Our earlier works solved trajectory tracking problem in smooth environment if the stratified system is holonomic or the nonholonomic stratified system satisfies the so called decomposed Lie algebra condition (DLARC). The proposed algorithm establishes a concept that integrates these algorithms in order to extend the results for non-smooth (stair-like) environment and to resolve the stair-climbing problem.