Structure and control scheme of stair climbing robot

YANG Ping, GONG Lin qiang, SHI Jun yi, CAO Qiang

(College of MechanoElectronic Engineering, Lanzhou University of Technology, Lanzhou 730050, China)


Abstract: Aiming at the problem of climbing stair and avoiding obstacles in the working process of stair climbing robot, mechanical structure, climbing method and the motion equation of the stair climbing robot were analyzed, the obstacle detection and obstacle avoidance control strategy for the climbing robot were studied. The fuzzy obstacle avoidance rule for stair climbing robot was established which was based on the principle of fuzzy control, MC9S12XS128 singlechip and the ultrasonic sensor obstacle detection were used in forming the stair climbing robots control system of obstacle detection, obstacle avoidance and stair climbing. The obstacle avoidance and stair climbing test was carried out by using the stair climbing robot prototype, the results indicate that stair climbing robot mechanical structure based on deformation wheels and planetary wheels can realize obstacle avoidance and climb the stairs, the control system can accurately and quickly determine the location of obstacles and stairs, and complete the task of obstacle avoidance and stair climbing task based on the established fuzzy obstacle avoidance rules.

Key words: stair climbing robot; structure design; fuzzy control; equation of motion; obstacle detection