A stabilization control of two wheels driven wheelchair

Akihiro Nakamura, Toshiyuki Murakami

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

23 Citations (Scopus)

Abstract

The paper describes a stabilization control of two wheels driven wheelchair based on pitch angle disturbance observer (PADO). PADO makes it possible to stabilize the wheelchair motion and remove casters. This brings a sophisticated mobility of wheelchair because the casters are obstacle to realize step passage motion and so on. The proposed approach based on PADO is robust against disturbance of pitch angle direction and the more functional wheelchairs is expected in the developed system. The validity of the proposed method is confirmed by simulation and experiment.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages4863-4868
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 11
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: 2009 Oct 112009 Oct 15

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period09/10/1109/10/15

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Nakamura, A., & Murakami, T. (2009). A stabilization control of two wheels driven wheelchair. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 4863-4868). [5353911] (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5353911