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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Bibliographic Details
Published inIFAC Proceedings Volumes Vol. 46; no. 5; pp. 670 - 677
Main Authors Strah, B., Rinderknecht, S.
Format Journal Article
LanguageEnglish
Published 2013
Subjects
autonomous mobile robots
feedback linearization
hybrid systems
stair climbing
under-actuation
unilateral constraints
virtual constraints
zero dynamics
feedback linearization
hybrid systems
stair climbing
virtual constraints
unilateral constraints
zero dynamics
autonomous mobile robots
under-actuation
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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.
ISSN:1474-6670
DOI:10.3182/20130410-3-CN-2034.00024