Step-height detection for the Umbrella Wheel stair-climber using model prediction

Simon Iversen, Jerome Jouffroy

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

This paper presents the design of a stair-height estimator for a stair-climbing vehicle equipped with so-called Umbrella Wheels [1]. We first introduce a hybrid model of the wheel, containing both the continuous-time behavior of the wheel when rolling, together with its discrete-time nature due to the impact on the steps of the stairs. This model is then combined with the measured angle of the wheel (the only needed sensor/measurement) to obtain an estimation of the contact with a stair, which is in turn used to estimate the stair height. Simulation are presented to illustrate the potential of the approach.
Original languageEnglish
Title of host publication2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
PublisherIEEE
Publication date3. Sep 2018
Pages1098-1105
ISBN (Print)978-1-5386-1855-4
ISBN (Electronic)978-1-5386-1854-7
DOIs
Publication statusPublished - 3. Sep 2018
Event2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics - University of Auckland, Auckland, New Zealand
Duration: 9. Jul 201812. Jul 2018
http://aim2018.org/

Conference

Conference2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
LocationUniversity of Auckland
CountryNew Zealand
CityAuckland
Period09/07/201812/07/2018
Internet address

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