Novel Design of a Wheeled Robot with Double Swing Arms Capable of Autonomous Stair Climbing

In the real world, mobile robots often encounter obstacles, such as stairs or other obstacles. In order to achieve stair climbing, efficient mechanical structure and control algorithm are particularly important. The wheeled robot with double swing arms (DSAWbot) has four wheels for mobility and two swing arms. The DSAWbot's mechanical structures and control algorithm can be used to achieve autonomous stair climbing. This paper presents a static kinetics analysis for the obstacle mode, and details the stability analysis for an autonomous stair climbing algorithm. A large number of experimental results show that the DSAWbot can achieve autonomous stair climbing. In the case of limited power and size, the walking and stair climbing efficiency of DSAWbot has been maximized.