A Novel Stair-Climbing Robot Controlled Using the Internet of Things
Pharan Chawaphan, Dechrit Maneetham, Padma Nyoman Crisnapati, Ren-Jean Liou · 2023
This researcher's goal is to create and deploy a remote control system by utilizing an affordable and easy-to-use Internet of Things (IoT) platform. The design of the circuit described in this article consists of an Arduino Mega 2560, an ESP8266 microcontroller, and a gyroscope sensor as its constituent components. The utilization of the gyroscope sensor could potentially facilitate the determination of the robot's orientation, thereby enabling the preservation of its equilibrium during the traversal of the stairwell. The locomotion system of the robot potentially incorporates a pair of direct current motors to drive its wheels, thereby facilitating its ability to ascend staircases. The stair-climbing robot underwent comprehensive testing to evaluate its performance, with a specific focus on aligning operational values with anticipated values. During the robot's ascent of stairs, the study revealed an average inclination angle of 90.5671 degrees, with a minimal deviation of 0.6301 degrees. As the robot descended the stairs, the average total inclination measured at 89.6883 degrees, accompanied by a percentage error of 0.3463 degrees, all while participants walked on a determined level surface. Additionally, while navigating flat terrain, the average inclination degree was 91.60173 degrees, with a percentage error of 1.7797 degrees. Notably, during stair climbing, the mean inclination angle was 138.1558 degrees, showing a mean variation of 1.3172 degrees. Each stair-climbing rotation came with its associated error value, though the average gyroscope readings consistently fell within an acceptable range of parameters, indicating satisfactory performance.