A stabilization control of two wheels driven wheelchair

Akihiro Nakamura; Toshiyuki Murakami

doi:10.1109/IROS.2009.5353911

A stabilization control of two wheels driven wheelchair

Akihiro Nakamura, Toshiyuki Murakami

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages	4863-4868
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2009.5353911
Publication status	Published - 2009 Dec 11
Event	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States Duration: 2009 Oct 11 → 2009 Oct 15

Publication series

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

Other

Other	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Country	United States
City	St. Louis, MO
Period	09/10/11 → 09/10/15

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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

A stabilization control of two wheels driven wheelchair. / Nakamura, Akihiro; Murakami, Toshiyuki.

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 4863-4868 5353911 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 5353911, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 4863-4868, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, United States, 09/10/11. https://doi.org/10.1109/IROS.2009.5353911

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Access to Document

10.1109/IROS.2009.5353911