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
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;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844787
