Autonomous Stair Climbing of a Wheeled Double Inverted Pendulum
The described wheeled double inverted pendulum was built to serve as a stair-climbing device (SCD). It can negotiate steps autonomously. The overall SCD model is represented by a hybrid automaton. It consists of nonlinear situation-changing continuous-time properties. Depending on the situation, the...
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Published in | IFAC Proceedings Volumes Vol. 46; no. 5; pp. 670 - 677 |
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Main Authors | , |
Format | Journal Article |
Language | English |
Published |
2013
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Subjects | |
Online Access | Get full text |
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Summary: | The described wheeled double inverted pendulum was built to serve as a stair-climbing device (SCD). It can negotiate steps autonomously. The overall SCD model is represented by a hybrid automaton. It consists of nonlinear situation-changing continuous-time properties. Depending on the situation, the SCD is either fully actuated or under-actuated. Furthermore, discontinuous phenomena exist due to wheel-to-ground unilateral constraints. Feedback linearization is used as a basis for the control design. Due to a different situation-changing relative degree a full-state linearization or a partial linearization is applied. The state transition “settling” is developed within the virtual constraints framework. |
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ISSN: | 1474-6670 |
DOI: | 10.3182/20130410-3-CN-2034.00024 |