2-Dimensional Dynamic Analysis of Inverted Pendulum Robot With Transformable Wheel for Overcoming Steps

This letter presents the dynamic modeling of inverted pendulum with adaptable overcoming wheel and analysis of dynamics in 2-dimension. Stairways are inevitable in an environment where humans and robots operate and interact. Normally, the conventional wheel was not able to overcome the obstacle which higher than the radius of the wheel about inverted pendulum robot. This paper presents research on the problematic situation where a balancing robot climbs the steps with a pair of transformable wheels. Dynamic modeling of the varying radius of the wheel was done with the Lagrangian approach, and simple gain controller was selected. Simulations were carried out with MATLAB Simulink for confirmation of the dynamic model. In future works, the wheel is to be tested on an actual robot model.