Tóm tắt:

The research mentioned in this paper will come up with a robotic structure that transports people capable of automatically adjusting the robot's center of gravity and adapting to the operating environment. The robot kinematic equation is built on the basis of factors affecting the operation of the robot, such as the robot structure, the operating position, the contact point on the stairs, the user mass, the robot center of gravity balancing mechanism, and especially the adaptation mechanism at the end of the staircase.