Development of a control system for a stair-climbing inverted pendulum robot

Ananta Adhi Wardana, Takeshi Takaki, Tadayoshi Aoyama, Idaku Ishii

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Citations (Scopus)

Abstract

In this paper, we develop the control system of a stair-climbing inverted pendulum robot using a planetary wheel mechanism. The purpose of the control system is to ensure that the robot adjusts its orientation towards a given step before climbing the step and keep its main body stable before and after performing the climbing maneuver. The proposed system operates as follows. We utilize a state feedback control with a reference speed input and additional torque in order to guarantee the stability while moving and performing climbing maneuver. We use a proportional-derivative controller to control the orientation of the robot towards the stairs before climbing and to maintain the same orientation after the ascent or descent. Experimental results confirmed that the robot successfully ascended and descended the stairs by using the proposed method, even though the angles of each step's riser surface varied.

Original languageEnglish
Title of host publicationProceedings of the 2016 International Conference on Instrumentation, Control, and Automation, ICA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-5
Number of pages5
ISBN (Electronic)9781509013357
DOIs
Publication statusPublished - 9 Jan 2017
Externally publishedYes
Event2016 International Conference on Instrumentation, Control, and Automation, ICA 2016 - Bandung, West Java, Indonesia
Duration: 29 Aug 201631 Aug 2016

Publication series

NameProceedings of the 2016 International Conference on Instrumentation, Control, and Automation, ICA 2016

Conference

Conference2016 International Conference on Instrumentation, Control, and Automation, ICA 2016
Country/TerritoryIndonesia
CityBandung, West Java
Period29/08/1631/08/16

Keywords

  • Planetary wheel mechanism
  • Stair-climbing robot
  • inverted pendulum robot

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