Stair Descent Control of a Single-wheeled Inverted Pendulum Robot

抄録

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.