Control Solusions for Stair Climbing Robot Mechanism

Abstract

The paper presents an adaptive control method for robots transporting people up and down stairs. The research focuses on controlling the adaptive mechanism of a crawler-driven electric wheelchair robot that can adapt to the operating environment that is the intersection of the end point of the stairs and the plane to the next floor. The response of the system will affect how much free fall the robot will fall when moving through this environment. The control process is carried out through two stages of the structure, the first stage when the robot has just crossed all the steps and is about to move up the stairwell, the second stage when the robot prepares to move down the stairs from the stair sill. Research and build a robot control solution using distance sensors combined with PI-FUZZY adaptive control algorithm. The results of simulation and experiments show the effectiveness of the measurement solution to determine the location as well as the operating status of the robot. The built adaptive control algorithm has increased the system's responsiveness to changes in the staircase environment. The robot moves through the stairs without sudden fluctuations. The research creates a premise for the design and manufacture of robots to transport people up and down stairs to become more specialized and safer.