ASCA: Autonomous Step Climbing Agent
Steve Lewis (EEL5666, Spring 2000)

ASCA explores the intricacy of designing and building an autonomous agent that climb stairs.  The agent is intended to be small in size and be an economical solution.  ASCA was implemented with a single pltform that uses two posts (one front and one rear).  These post are able to raise and lower the body.  ASCA is primarily a mechanical oriented poject, utilitizing only two types of sensors: IR and bump switches.  ASCA was unable to perform autonomously due to technical hardware problems with interference from the motors.