2-Dimensional Dynamic analysis of an inverted pendulum robot with transformable wheels for overcoming steps

Abstract

This paper presents the dynamic modeling and analysis of an inverted pendulum robot with an adaptable overcoming wheel. Stairways are inevitable in environments where humans and robots operate and interact. The conventional wheel cannot overcome an obstacle that is higher than the radius of the wheel of the inverted pendulum robot. This paper presents a solution for a problematic situation in which a balancing robot climbs steps with a pair of transformable wheels. Dynamic modeling of the varying radius of the wheel was performed using the Lagrangian approach, and a simple gain controller was selected. Simulations were carried out using MATLAB and Simulink to confirm the dynamic model. In future work, the wheel should be tested on a robot model.