Stairs and Steps

How high a step RBQ can handle depends on the gait you use, on whether the stairs have risers, and on how deep the treads are compared with the step height. This page gives the limits for each gait and the conditions they hold under. The stair height on the General Specifications page holds only under these conditions.

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CAUTION

The heights on this page are for stairs that meet the conditions in Limits by gait.

Terms

[ A step height · B tread depth ]

	Term	Meaning
A	Step height	Vertical distance from one tread to the next. A single curb or ledge counts as one step.
B	Tread depth	Horizontal depth of one tread, from its front edge to its back edge (the riser, if there is one).
	Slope angle	How steep the stairs are, set by the step height (A) and the tread depth (B). Equal A and B give 45°.
	Riser	The vertical board that closes the space between two treads.
	Open-riser stairs	Stairs without risers, with open gaps between the treads. Grating stairs are one kind.
	Grating stairs	Stairs whose treads are metal grating you can see through. They have no risers.

Limits by gait

Maximum step height on the legged RBQ10.

Gait	Stairs with risers	Open-riser stairs (grating and similar)
STAIRS	Up to 20 cm	Up to 20 cm
RL_WALK / RL_WALK_VISION	Up to 25 cm	Not recommended

• These heights are set for stairs whose tread depth (B) equals the step height (A), 1:1. Stairs with treads deeper than the step height (B > A) can be used up to the same height. As a slope angle this is 45° or less. Stairs with treads shallower than the step height (B < A, over 45°) cannot be used.
• On open-riser stairs choose STAIRS. RL_WALK and RL_WALK_VISION are not recommended there.
• The 25 cm figure is for RL_WALK_VISION (Vision Walk on).

Grating stairs

The STAIRS gait sees grating treads as steps with the depth cameras under the body. Grating stairs have no risers, so choose STAIRS; RL_WALK and RL_WALK_VISION are not recommended.

[ Largest grating opening: 95 mm across × 25 mm deep · arrow shows the direction of travel ]

• Grating with openings wider than 95 mm across × 25 mm deep is not recommended.
• Step height and slope angle limits are the same as in Limits by gait.