Development of Orientation Control System for Stair-Climbing Inverted Pendulum Robot

抄録

In this paper, an orientation control system of a stair-climbing inverted pendulum robot using a planetary wheel mechanism is proposed to ensure that the robot adjusts its orientation toward stairs before successful ascension. Two laser sensors are used to determine the angle of the robot relative to the stair. The experimental results confirmed that the robot successfully climbed the stairs using the proposed method even though the angle of the riser surface of each stair was different.