Hybrid dynamic model of a wheeled double inverted pendulum | IEEE Conference Publication | IEEE Xplore

Hybrid dynamic model of a wheeled double inverted pendulum


Abstract:

The presented stair climbing device (SCD) allows consideration of applications like stair-climbing wheelchairs and assistive robots. It can be considered as a wheeled dou...Show More

Abstract:

The presented stair climbing device (SCD) allows consideration of applications like stair-climbing wheelchairs and assistive robots. It can be considered as a wheeled double inverted pendulum which goes through different contact situations during the stair-climbing. The derived hybrid dynamic model covers the whole stair-climbing functionality. A model analysis is shown from the control point of view whereat the state transition “lift-off” is described in detail considering conditions and limits for successful transition. Presented simulation results give an insight into system properties. The “lift-off” simulation is compared with measurements of the real SCD prototype.
Date of Conference: 16-19 June 2014
Date Added to IEEE Xplore: 20 November 2014
ISBN Information:
Conference Location: Palermo, Italy

References

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