Abstract
Building is few equipped with elevator. Transportation work there is done by hand. We has succeeded in elevating experiments lightweight load in stair-climbing mechanism using a Transformable Wheels. Put into practical use is needed to carry in a stable thing. Mechanism to keep horizontal carrier on the steps you need to do so. However, state weight, center of gravity position changes in various ways by luggage. So need to maintain horizontal control which can respond. Invented a horizontal maintenance mechanism of carrier part in this study, we consider a control system based on the motion model. It is believed that stabilized using membership functions of fuzzy theory is valid since it is necessary to detect by the sensor the position of the carrier unit, set appropriate control parameters depending on the situation.
