CEBO-Based Stair-Climbing Wheel Design

CoppeliaSim evaluation-loop automation for T-pedal wheel design.

CoppeliaSim stair-climbing wheel-design evaluation loop for CEBO
CoppeliaSim evaluation loop used for T-pedal wheel design optimization.
CoppeliaSim stair-climbing wheel-design result for CEBO
T-pedal wheel design result used in the stair-climbing evaluation.
Physical stair-climbing test clip for the T-pedal wheel robot with manual guidance
Physical stair test with manual guidance.
Physical stair-climbing test clip for the T-pedal wheel robot
Physical stair test.

I formulated a six-variable T-pedal wheel design problem for stair-climbing performance and pitch stability. I automated the CoppeliaSim evaluation loop and analyzed stair-climbing performance and pitch-stability metrics under different wheel design and control parameters.

  • Role: T-pedal wheel search-space design, CEBO optimization experiments, CoppeliaSim evaluation-loop automation
  • Tools: Bayesian optimization, CoppeliaSim, Python
  • Result: nominal traversal time decreased by 23.31% (9.405 s -> 7.213 s), and body-pitch stability median decreased by 37.84% (1.102 deg -> 0.685 deg) under the nominal friction condition.
  • Paper: Clustering-enhanced Bayesian optimization (CEBO): A case study on T-pedal wheel design of a stair-climbing robot. Advanced Engineering Informatics, revised manuscript resubmitted after minor revision.
  • Code: kelvin926/T-Pedal-with-CEBO