Traveling control of two-wheel wheelchair using variable command

Miyuki Kamatani, Toshiyuki Murakami

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

2 Citations (Scopus)

Abstract

Recently, two-wheel wheelchair has gained a lot of attention because of its high mobility. It has no caster, so it must be kept stable by stabilization control. Operator must move his body back and forth in order to operate the wheelchair. Usually pitch angle command is zero in order that the seat of wheelchair keeps flatly. In this paper, the method of generating pitch angle command is proposed so that wheels accelerate smoothly. Ideal trajectory of wheel velocity is given as curving line and pitch angle command is calculated from this ideal trajectory. The validity of the proposed method is confirmed by the experimental results.

Original languageEnglish
Title of host publicationProceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5278-5282
Number of pages5
ISBN (Print)9781479940325
DOIs
Publication statusPublished - 2014 Feb 24
Event40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014 - Dallas, United States
Duration: 2014 Oct 302014 Nov 1

Other

Other40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014
CountryUnited States
CityDallas
Period14/10/3014/11/1

Keywords

  • Inverted pendulum
  • Stabilization control
  • Underactuated
  • Variable command
  • Wheelchair

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • Cite this

    Kamatani, M., & Murakami, T. (2014). Traveling control of two-wheel wheelchair using variable command. In Proceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society (pp. 5278-5282). [7049305] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2014.7049305