Stairs of different sizes and shapes and variety of designs are available in various households. We always find odd to clean the stair case steps and cleaning several steps in multistoried buildings is in itself a task. Using robots for cleaning surface, glass, rooms etc. are not new and are in the field of research for more than a decade. But when it comes to stair case cleaning, we see that the research area is only few years old. The main reason is the enormous difference is design mechanism when it comes to vertical climbing robots compared to the robots that move over surface. These robots function in 3-D space where as surface cleaning robots function in 2-D space which is comparatively easier to design and implement compared to the 3-D space robots. Our 'ClePa' is designed to operate in 3-D space with several features including: manual control, semi-autonomous and fully-autonomous control, crawler based mobility mechanism, stationary and dynamic obstacle detection and avoidance and threshold detection.
