This paper proposes a stair-climbing gait for a four-wheeled vehicle. The idea and methodology of climbing stairs are described, and the results of experiments are shown. Crawler-type vehicles and vehicles with special, complicated mechanisms are commonly used for climbing continuous steps (stairs). In contrast, in this paper, a four-wheeled vehicle with additional degrees of freedom, whose mechanism is not as complicated, is discussed. A gait algorithm based on a pace gait is proposed, and its performance is evaluated.

中文翻译：

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四轮车的爬楼梯步态

本文提出了一种四轮车辆的爬楼梯步态。描述了爬楼梯的想法和方法，并显示了实验结果。履带式车辆和具有特殊，复杂机构的车辆通常用于连续爬梯（楼梯）。相反，在本文中，讨论了具有附加自由度的四轮车辆，其机构并不那么复杂。提出了一种基于步态步态的步态算法，并对其性能进行了评估。