DocumentCode
2032644
Title
Step climbing using power assist wheel chair robot with inverse pendulum control
Author
Takahashi, Yoshihiko ; Ogawa, Shinobu ; Machida, Shigenori
Author_Institution
Dept. of Syst. Design Eng., Kanagawa Inst. of Technol., Japan
Volume
2
fYear
2000
fDate
2000
Firstpage
1360
Abstract
A power assist wheel chair robot by which a patient can climb over steps/curbs up to about 10 cm without helper´s assistance is proposed in this paper. A patient can maintain inverse pendulum control of the wheel chair after raising its front wheels. Next, a patient can move to the step maintaining the inverse pendulum control, and can climb over the step being assisted by DC motor force. The experimental results of the step climbing are presented in this paper
Keywords
DC motors; handicapped aids; mobile robots; pendulums; 10 cm; DC motor force; inverse pendulum control; power assist wheelchair robot; step climbing; Aging; Control systems; DC motors; Force control; Intelligent sensors; Mobile robots; Robot sensing systems; Shafts; Wheelchairs; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.844787
Filename
844787
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