Dynamic modeling and step-climbing analysis of a two-wheeled stair-climbing inverted pendulum robot

Volume: 34, Issue: 5, Pages: 313 - 327
Published: Dec 27, 2019
Abstract
In this study, the control of a two-wheeled stair-climbing inverted pendulum robot and its climbing motion are analyzed and discussed. The robot adopts a state-feedback controller with a feed-forward constant to stabilize the body and achieve step-climbing motion. The control parameter is considered based on the dynamic model motion on a flat surface and the static model of motion on the step. For climbing stairs with a narrow step tread, a...
Paper Details
Title
Dynamic modeling and step-climbing analysis of a two-wheeled stair-climbing inverted pendulum robot
Published Date
Dec 27, 2019
Volume
34
Issue
5
Pages
313 - 327
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