Advanced motion control of two-wheel wheelchair for slope environment

Kazuya Hirata, Miyuki Kamatani, Toshiyuki Murakami

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

6 Citations (Scopus)

Abstract

Recently, two-wheel wheelchair gains a lot of attention since it has high mobility better than conventional four-wheel wheelchair. Two-wheel wheelchair consists of two actuated wheels and it is similar with wheel inverted pendulum. Therefore, stabilization control is utilized to sustain the human posture with safety. In this research, the motion of two-wheel wheelchair on the slope is considered. Repulsive compliance control with Reaction Torque Observer (RTOB) is conducted in order to determine the optimal pitch angle command for going up and down the slope. Furthermore, parameter determination of repulsive compliance control is analyzed and appropriate parameter for the motion on the slope can be determined. Simulation and experimental results show the validity of proposed command generation.

Original languageEnglish
Title of host publicationProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
Pages6436-6441
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
Duration: 2013 Nov 102013 Nov 14

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
CountryAustria
CityVienna
Period13/11/1013/11/14

Keywords

  • ISO standards
  • Mobile robots
  • Motion control
  • Observers
  • Robust control
  • Sensorless control
  • Stability
  • Wheelchairs

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Hirata, K., Kamatani, M., & Murakami, T. (2013). Advanced motion control of two-wheel wheelchair for slope environment. In Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society (pp. 6436-6441). [6700196] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2013.6700196