ESCALERINI: A Robot Made for Loading and Transport of Daily Use Products by Stairs in Buildings without Elevators

In Latin America (LATAM), many buildings were built without elevators, making daily transport of daily use products a challenge for people with reduced mobility. This paper introduces ESCALERINI, an autonomous robot designed to carry products up to 20 Kg along hallways and straight stairs. It combines two locomotion modes: mecanum wheels for hallways and a star-frame mechanism for stairs, transitioning between them via a scissors mechanism. Simulation using ROS tests the trajectory tracking control in hallways, while MATLAB simulations determine the torque needed for the star-frame mechanism during stair navigation. The robot can reduce physical strain and enhance the quality of life for individuals in buildings without elevators.