Control of two-wheeled wheelchair considering a model of step climbing and human posture

Keinosuke Yokota, Toshiyuki Murakami

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

Abstract

In recent years, the practical use of personal mobility of wheeled inverted pendulum mobile robot such as Segway has been advanced. In this paper, this paper focuses on a two-wheeled wheelchair, which is a sitting-type wheeled inverted pendulum personal mobility. In order to improve the traveling performance, the purpose of this paper is to efficiently climb over the steps of the two-wheeled wheelchair. In a situation where the wheelchair climbs over a step, there is a drawback that is a trade-off between stabilizing the posture and applying a torque large enough to climb over the step. In order to solve this drawback, modeling is carried out including the model of the passenger in the situation where the wheelchair climbs over a step. This paper shows a control system to feedback the gravity term applied to the wheel when the wheelchair climbs over a step. By these proposals, the improvement of the traveling performance at the time of climbing over a step is realized. The usefulness of the proposed method is confirmed via the simulation result.

Original languageEnglish
Title of host publicationProceedings of the 7th Asia International Symposium on Mechatronics - Volume I
EditorsBaoyan Duan, Kazunori Umeda, Woonbong Hwang
PublisherSpringer Verlag
Pages779-786
Number of pages8
ISBN (Print)9789813294363
DOIs
Publication statusPublished - 2020 Jan 1
Event7th Asia International Symposium on Mechatronics, AISM 2019 - Hangzhou, China
Duration: 2019 Sep 192019 Sep 22

Publication series

NameLecture Notes in Electrical Engineering
Volume588
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Conference

Conference7th Asia International Symposium on Mechatronics, AISM 2019
CountryChina
CityHangzhou
Period19/9/1919/9/22

Keywords

  • Inverted pendulum
  • Step climbing
  • Wheelchair

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering

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