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 |
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| Title of host publication | 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 |
| Pages | 4863-4868 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2009 Dec 11 |
| Externally published | Yes |
| 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 |
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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 |
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Human-Computer Interaction
- Control and Systems Engineering
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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