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The presented stair climbing device (SCD) allows consideration of applications like stair-climbing wheelchairs and assistive robots. It can be considered as a wheeled double inverted pendulum which goes through different contact situations during the stair-climbing. The derived hybrid dynamic model covers the whole stair-climbing functionality. A model analysis is shown from the control point of view...
Modeling using Lagrange equation of 1st kind and state-space control of a real inverse pendulum is considered. The mathematical model of the pendulum is derived and compared with measurements of the real system. The negative influence of the dry friction was considered and the oscillation was successfully reduced.
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