Stair Descent Control of a Single-wheeled Inverted Pendulum Robot

Ananta Adhi WARDANA; Takeshi TAKAKI

doi:10.1299/jsmermd.2020.1A1-H07

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

Online ISSN : 2424-3124

2020

Session ID : 1A1-H07

DOI https://doi.org/10.1299/jsmermd.2020.1A1-H07

Conference information

Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : May 27, 2020 - May 30, 2020

Stair Descent Control of a Single-wheeled Inverted Pendulum Robot

*Ananta Adhi WARDANA, Takeshi TAKAKI

Author information

Keywords: Mobile robot, stair-climbing robot, differential mechanism, inverted pendulum robot, single-wheeled robot

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Abstract

In this paper, a stair-descent control method for a stair-climbing single-wheeled inverted pendulum robot is proposed. The objective of the control method is to ensure that the robot can descend a staircase sequentially without losing stability. The experimental results confirm that the robot successfully descends a staircase consisting of four steps with a riser height and a tread depth of 12–13 cm and 39 cm, respectively.

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