An assist control of step climbing motion in two-wheel electric powered wheelchair with controlled casters

Kazuya Hirata, Toshiyuki Murakami

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

2 Citations (Scopus)

Abstract

Recently, two-wheel electric powered wheelchair (EPW) attracts attention since their mobility is better than that of conventional four-wheel EPW. However, it is statically unstable due to underactuated structure. Then, stabilization control needs to be achieved whenever disturbances are added by road environment. In this paper, novel structure of two-wheel EPW is proposed. Controlled casters are attached at the body of two-wheel EPW and it can change two-wheel drive and four-wheel drive by position control of controlled casters. Furthermore, an assist control of step climbing motion in two-wheel EPW is proposed. Reaction Torque Observer (RTOB) and Repulsive Compliance Control (RCC) are used in order to generate the optimal pitch angle command for climbing the step. Furthermore, pitch angle command is transformed into the position command of controlled casters based on geometric equation. Then two-wheel EPW achieve step climbing motion easily by controlled casters. Experimental results are evaluated in terms of the comfort of human based on ISO 2631-1.

Original languageEnglish
Title of host publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages440-445
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

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Keywords

  • Disturbance observer
  • Electric powered wheelchair (EPW)
  • Reaction torque observer
  • Step climbing

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Hirata, K., & Murakami, T. (2014). An assist control of step climbing motion in two-wheel electric powered wheelchair with controlled casters. In 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014 (pp. 440-445). [6823322] (International Workshop on Advanced Motion Control, AMC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823322