Steering control in multi-degrees-of-freedom two-wheeled wheel chair on slope environment

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

2 Citations (Scopus)

Abstract

As the development of electrical transportation systems, two-wheeled mobile robots have been widely studied because of the high mobility. Among them, the two-wheeled wheel chair is the wheel chair without caster wheels, and moves and stabilizes with only two wheels. However, wheel chairs cannot move lateral direction in general, and they sometimes fall down and cause into serious accidents. In this paper, lateral directional mode and its control method are proposed to solve this problem, and the validity of proposal is checked through simulations. The results are evaluated by the movement distance and the change of body's pitch angle.

Original languageEnglish
Title of host publicationProceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
PublisherIEEE Computer Society
Pages6181-6186
Number of pages6
ISBN (Electronic)9781509034741
DOIs
Publication statusPublished - 2016 Dec 21
Event42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy
Duration: 2016 Oct 242016 Oct 27

Other

Other42nd Conference of the Industrial Electronics Society, IECON 2016
CountryItaly
CityFlorence
Period16/10/2416/10/27

Fingerprint

Wheels
Mobile robots
Accidents

Keywords

  • Mobile Robots
  • Multi-degrees-of-freedom
  • Observers
  • Sensorless Control
  • Stabilized Control
  • Steering Control
  • Two-wheeled wheel chair

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Hamatani, S., Nozaki, T., & Murakami, T. (2016). Steering control in multi-degrees-of-freedom two-wheeled wheel chair on slope environment. In Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society (pp. 6181-6186). [7793397] IEEE Computer Society. https://doi.org/10.1109/IECON.2016.7793397

Steering control in multi-degrees-of-freedom two-wheeled wheel chair on slope environment. / Hamatani, Sakurako; Nozaki, Takahiro; Murakami, Toshiyuki.

Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society. IEEE Computer Society, 2016. p. 6181-6186 7793397.

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

Hamatani, S, Nozaki, T & Murakami, T 2016, Steering control in multi-degrees-of-freedom two-wheeled wheel chair on slope environment. in Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society., 7793397, IEEE Computer Society, pp. 6181-6186, 42nd Conference of the Industrial Electronics Society, IECON 2016, Florence, Italy, 16/10/24. https://doi.org/10.1109/IECON.2016.7793397
Hamatani S, Nozaki T, Murakami T. Steering control in multi-degrees-of-freedom two-wheeled wheel chair on slope environment. In Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society. IEEE Computer Society. 2016. p. 6181-6186. 7793397 https://doi.org/10.1109/IECON.2016.7793397
Hamatani, Sakurako ; Nozaki, Takahiro ; Murakami, Toshiyuki. / Steering control in multi-degrees-of-freedom two-wheeled wheel chair on slope environment. Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society. IEEE Computer Society, 2016. pp. 6181-6186
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