there are no steps associated with it. In the next stage, the Andros is started up the

staircase. After two steps have passed, the front auxiliary tracks are aligned parallel with

the line of the stairs, as seen in Figure 3-7b. The Andros continues on in this third stage

alignment until the last step of the staircase is reached. As this step is reached, the last

stage is initiated. The front auxiliary tracks of the Andros are moved downward to catch

the Andros as it passes the apex of the stairs. This can be seen in Figure 3-7c.





 a)



 2 f

 c;3 T r


Figure 3-7: Ascend stair motion protocol: a) Align front auxiliary tracks with stair
 angle; b) Andros moving on stairs; c) Andros moving over apex of stairs


r\/rd