A novel steering mechanism of two-wheeled wheel chair for stability improvement

Sakurako Hamatani, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

In this paper, a control method to improve the static stability of two-wheeled wheel chair is proposed. The two-wheeled wheel chair is the wheel chair without caster wheels, and moves and stabilizes with only two wheels. It has good operability and capability to go over a step. However, two-wheeled wheel chair has difficulty in statical stabilization because of the structure. In this paper, the steering system is introduced to the two-wheeled wheel chair. The effect of braking force from the higher inertia and the strain of tires are considered. A miniaturized two-wheeled wheel chair with steering motors is made to conduct experiments. The validity of proposed method is checked through experiment, and the results are evaluated by the movement distance and the change of pitch angle.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2154-2159
Number of pages6
ISBN (Electronic)9781479917624
DOIs
Publication statusPublished - 2016 Jan 25
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: 2015 Nov 92015 Nov 12

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period15/11/915/11/12

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Keywords

  • Mobile Robots
  • Observers
  • Sensorless Control
  • Stabilized Control
  • Two-wheeled wheel chair

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Hamatani, S., & Murakami, T. (2016). A novel steering mechanism of two-wheeled wheel chair for stability improvement. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society (pp. 2154-2159). [7392420] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2015.7392420