Robot Stair Climber For Goods Transport

Stair Climbing Robot
BY:
Mahmoud Sherif 17104064
Marwan Sameh 17105656
Omar Tamer 18105961
Mostafa Hesham 19104235
Ziad Alaa Eldeen 19104913
Hamza Hussine 20107158
supervised by: Mohamed AbdelWahab

Agenda
Introduction
Literary Review and Background
Project Overview
Workflow and Architecture
Design and Components
Control and Circuit Connections
Next Steps
Introduction
Discussing the development and
implementation of stair climbing
robots.
Exploring its impact on various fields.
Comparing different mechanism
designs.
Differentiating between multiple
control methods.
Project overview Problem 1
Mechanical Design Control Design

Mechanism Selection Controller Selection
Intial Design Control Algorithm Selection
Design Simulation Problem
Code 2
Final Design Actuator Selection
Literary Review
Mechanism selection:
Wheels
Advantages: simple ,efficient and
cost effective.
Disadvantages: lack of traction,

non stable and limited in stair
climbing.
Literary Review
Mechanism selection:
Transformable wheels
Advantages: transforms from wheel

to stair climbing configuration.
improved stair climbing capability.
Disadvantages: higher complexity,

cost and weight.
Literary Review
Mechanism selection: Track
Advantages: excellent traction on

surfaces.
enhanced stability during climbing.
Disadvantages: higher energy

consumption.
limited maneuverability.
Literary Review
Mechanism selection: legged
Advantages: very versatile and

adaptable.
superior stair climbing capability.
Disadvantages: complex design

and higher cost.
References
N. J. Baishya, B. Bhattacharya, H. Ogai, and K. Tatsumi, “Analysis and design of a minimalist
step climbing robot,” Appl. Sci., vol. 11, no. 15, Aug. 2021, doi: 10.3390/app11157044.
Zheng, Chuanqi, et al. "$\mathbf {\alpha} $-WaLTR: Adaptive Wheel-and-Leg Transformable
Robot for Versatile Multiterrain Locomotion." IEEE Transactions on Robotics 39.2 (2022):
941-958.
Alomari, K. A., et al. "Design of a light stair-climbing mobile carrier." (2021): 441-446.
Seo, TaeWon, et al. "Stair-climbing Robots: a Review on Mechanism, Sensing, and
Performance Evaluation." IEEE Access (2023).

Literary Review
Control selection: α-WaLTR
ROS Extended Kalman Filter (EKF) for localization
( GPS, compass, and IMU data) .

Overview
Stair detection algorithm based on RGB-D data.
Sequential process for autonomous navigation towards the
stairs.
Intricate autonomous stair climbing algorithm using laser
data to trace the robot's position and orientation.

Literary Review
Literary Review
Advantages:
Adaptability to different stair configurations.
Enhanced localization, obstacle detection, and navigation.
Use of custom algorithms and support vector machines for
stair detection for increased flexibility.
Disadvantages:
Extremely complex system
Requires high calibration
Literary Review
Control selection: Control system using computer
vision, PID and IMU readings
Bounding box generation, enclosing a portion of the stairs.
Calculates an offset angle (ΔΘ) to determine the robot deviation.
The system uses a PID to minimize the offset angle.
Calculate the velocity parameters using a differential drive
model.
Literary Review
The robot is steered parallel to the stairs until the offset angle
(ΔΘ) becomes zero.
The IMU sensor readings help determine whether the robot is on
flat terrain or climbing stairs.
The control system operates in a loop, continuously assessing
the surroundings and responding to changes in the terrain.

→
flag = 0 if bounding box
not detected
→
flag = 1 if bounding box
detected
Literary Review
Advantages: Disadvantages:
autonomous navigation complex implementation
precise stair alignment
sensitivity to environmental variability
real-time adjustments
the potential for false positives or
sensor integration
continuous operation negatives,
Literary Review
Control selection: Control system using Bluetooth and
vision control
Bluetooth:
A mobile application is created to control the AGV.
The AGV is equipped with a Bluetooth module.
The user interacts with the mobile application
When the user presses a button in the application, it sends a
command to the AGV

Literary Review
Control selection: Control system using Bluetooth and
vision control
Vision control:
Object Tracking Function
Learning the Object
Position Tracking
Control Signals
Steering the AGV

Literary Review
Control selection:
Control system using
Bluetooth and vision
control
Literary Review
Control selection: Control system using Bluetooth
and vision control
Advantages: Disadvantages:
remote control limitations in detection range
convenience
angle for vision control
precise object tracking
versatile for various may not perform well in low-light
applications conditions
accurate object tracking may require continuous user supervision
in Bluetooth control mode

References
Zheng, Chuanqi, et al. "$\mathbf {\alpha} $-WaLTR: Adaptive Wheel-and-Leg
Transformable Robot for Versatile Multiterrain Locomotion." IEEE Transactions on
Robotics 39.2 (2022): 941-958.
Patil, Unmesh, et al. "Deep learning based stair detection and statistical image
filtering for autonomous stair climbing." 2019 Third IEEE International Conference on
Robotic Computing (IRC). IEEE, 2019.
Bore, Dipak, et al. "Automated guided vehicle using robot operating systems." 2019
3rd International Conference on Trends in Electronics and Informatics (ICOEI). IEEE,
2019.
WORK FLOW
CAD CONTROLLER
DESIGN AND CODE
HARDWARE
ELECTRIC
SELECTION
CONTROLLER
V-REP MATLAB ALGORITHM
SIMULATION
FIRST DESIGN
Procedure Followed:
1. Belt size selection

2. Belt calculations
3. Belt Tensioning Spring
4. Forces on belt & pulley
5. Bearing selection & calculation
6. Torque & speed calculations
FIRST DESIGN
FIRST DESIGN
FIRST DESIGN
FIRST DESIGN
Thank You
For Your Attention

Robot Stair Climber For Goods Transport

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Stair Climbing Robot

supervised by: Mohamed AbdelWahab

Mechanical Design Control Design

Disadvantages: lack of traction,

Advantages: transforms from wheel

Disadvantages: higher complexity,

Advantages: excellent traction on

Disadvantages: higher energy

Advantages: very versatile and

Disadvantages: complex design

Zheng, Chuanqi, et al. "$\mathbf {\alpha} $-WaLTR: Adaptive Wheel-and-Leg Transformable

Seo, TaeWon, et al. "Stair-climbing Robots: a Review on Mechanism, Sensing, and

Performance Evaluation." IEEE Access (2023).

ROS Extended Kalman Filter (EKF) for localization

( GPS, compass, and IMU data) .

Sequential process for autonomous navigation towards the

Intricate autonomous stair climbing algorithm using laser

data to trace the robot's position and orientation.

Bounding box generation, enclosing a portion of the stairs.

Calculates an offset angle (ΔΘ) to determine the robot deviation.

The system uses a PID to minimize the offset angle.

Calculate the velocity parameters using a differential drive

(ΔΘ) becomes zero.

The IMU sensor readings help determine whether the robot is on

flat terrain or climbing stairs.

The control system operates in a loop, continuously assessing

the surroundings and responding to changes in the terrain.

A mobile application is created to control the AGV.

The AGV is equipped with a Bluetooth module.

The user interacts with the mobile application

When the user presses a button in the application, it sends a

command to the AGV

Object Tracking Function

Learning the Object

Steering the AGV

in Bluetooth control mode

Transformable Robot for Versatile Multiterrain Locomotion." IEEE Transactions on

Robotics 39.2 (2022): 941-958.

Robotic Computing (IRC). IEEE, 2019.

3rd International Conference on Trends in Electronics and Informatics (ICOEI). IEEE,

1. Belt size selection

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