TY - GEN
T1 - A stabilization control of two wheels driven wheelchair
AU - Nakamura, Akihiro
AU - Murakami, Toshiyuki
PY - 2009/12/11
Y1 - 2009/12/11
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=76249103282&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=76249103282&partnerID=8YFLogxK
U2 - 10.1109/IROS.2009.5353911
DO - 10.1109/IROS.2009.5353911
M3 - Conference contribution
AN - SCOPUS:76249103282
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 4863
EP - 4868
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -