In recent years, wheeled bipedal robots have garnered significant attention due to their exceptional mobility on flat terrain. However, while stair climbing has been achieved in prior studies, these existing methods often suffer from a severe lack of versatility, making them difficult to adapt to varying hardware specifications or diverse complex terrains. To overcome these limitations, we propose a generalized Contact-Triggered Blind Climbing (CTBC) framework. Upon detecting wheel-obstacle contact, the framework triggers a leg-lifting motion integrated with a strongly-guided feedforward trajectory. This allows the robot to rapidly acquire agile climbing skills, significantly enhancing its capability to traverse unstructured environments. Distinct from previous approaches, CTBC demonstrates superior robustness and adaptability, having been validated across multiple wheeled bipedal platforms with different wheel radii and tire materials. Real-world experiments demonstrate that, relying solely on proprioceptive feedback, the proposed framework enables robots to achieve reliable and continuous climbing over obstacles well beyond their wheel radius.

翻译：近年来，轮式双足机器人因其在平坦地形上的卓越机动性而受到广泛关注。然而，尽管已有研究实现了爬楼梯功能，现有方法通常存在泛化能力严重不足的问题，难以适应不同的硬件规格或多样化的复杂地形。为克服这些局限性，本文提出了一种通用的接触触发式盲爬升框架。该框架在检测到轮-障碍物接触时，会触发与强引导前馈轨迹相结合的抬腿运动。这使得机器人能够快速掌握敏捷的攀爬技能，显著增强其在非结构化环境中的通过能力。与先前方法不同，CTBC展现出卓越的鲁棒性与适应性，已在多种具有不同轮径和轮胎材质的轮式双足平台上得到验证。真实环境实验表明，仅依靠本体感知反馈，所提框架即可使机器人实现超越其轮径尺寸障碍物的可靠连续攀爬。