Building an Anti-Tip System for Robots Transporting People Up and Down the Stairs

摘要

This paper presents an anti-roll control model for a human transport robot that can go up and down stairs with different slopes. The anti-roll control system is implemented by the process of controlling the robot's center of gravity and the adaptive mechanism. The anti-roll equation when moving up and down stairs is proposed with a balance system by a linear actuator to help control the balance and anti-roll according to the slope of the stairs. The phenomenon of oscillation and overturning towards the moving direction at the last step of the stairs is also considered and analyzed, and a control equation is built to limit this phenomenon. The suitability of the dynamic equations is verified through simulation results on Matlab Simulink software. The experimental model was constructed and tested in real conditions with a slope of 35º. The experimental results of the human transport robot show that the robot is balanced and stable when moving up and down stairs. This shows the effectiveness of the anti-roll model for the crawler human transport robot.