Hybrid dynamic model of a wheeled double inverted pendulum

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.