Hybrid dynamic model of a wheeled double inverted pendulum

Author

Strah, Bruno ; Rinderknecht, S.

Author_Institution

Inst. for Mechatron. Syst. in Mech. Eng., Tech. Univ. Darmstadt, Darmstadt, Germany

fYear

2014

fDate

16-19 June 2014

Firstpage

1305

Lastpage

1310

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.

Keywords

nonlinear control systems; pendulums; vehicle dynamics; wheels; SCD; assistive robots; hybrid dynamic model; model analysis; stair climbing device; stair-climbing functionality; stair-climbing wheelchairs; state transition lift-off; wheeled double inverted pendulum; Analytical models; Dynamics; Kinematics; Mathematical model; Solid modeling; Vectors; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation (MED), 2014 22nd Mediterranean Conference of

Conference_Location

Palermo

Print_ISBN

978-1-4799-5900-6

Type

conf

DOI

10.1109/MED.2014.6961556

Filename

6961556