A Stabilization Control in Two-Wheeled Walker with Passive Mechanism for Walking Support

Kentaro Ominato, Toshiyuki Murakami

研究成果: Conference contribution

抄録

The aim of this study was to stabilize the posture of a two-wheeled walker in a torque saturated situation during turning. A two-wheeled walker increases the torque of one of the wheels during a turn, which may result in the torque saturation. There was a problem that the posture stability could not be maintained due to this torque saturation. Therefore, this paper proposes to generate a torque reference value in a torque saturation situation when a two-wheeled walker is turning. The simulation in the proposed method was compared with the case without considering the torque saturation. The simulation results showed that both the posture stability and the turning performance were improved. This indicates that the generation of the torque reference value considering the torque saturation is effective. And, we also propose a method to make the two-wheel walker stand still.

本文言語English
ホスト出版物のタイトルProceedings - IECON 2020
ホスト出版物のサブタイトル46th Annual Conference of the IEEE Industrial Electronics Society
出版社IEEE Computer Society
ページ65-70
ページ数6
ISBN(電子版)9781728154145
DOI
出版ステータスPublished - 2020 10 18
イベント46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020 - Virtual, Singapore, Singapore
継続期間: 2020 10 192020 10 21

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
2020-October

Conference

Conference46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020
CountrySingapore
CityVirtual, Singapore
Period20/10/1920/10/21

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

フィンガープリント 「A Stabilization Control in Two-Wheeled Walker with Passive Mechanism for Walking Support」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル