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

Jerome Jouffroy, Simon Iversen

Publikation: Bidrag til bog/antologi/rapportKonferenceartikel i proceedingpeer review


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.
Titel2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
Publikationsdato3 sep. 2018
ISBN (Trykt)978-1-5386-1854-7, 978-1-5386-1855-4
StatusUdgivet - 3 sep. 2018


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