Title :
Analysis of front wheel raising and inverse pendulum control of power assist wheel chair robot
Author :
Takahashi, Y. ; Machida, Shigenori ; Ogawa, Shinobu
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 10cm without any 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 modeling and analysis of the front wheel raising and inverse pendulum control are presented in this paper
Keywords :
handicapped aids; mobile robots; pendulums; DC motor force; front wheel raising; inverse pendulum control; wheel chair; wheel chair robot; Aging; DC motors; Force control; Intelligent robots; Intelligent sensors; Mobile robots; Robot sensing systems; Shafts; Wheelchairs; Wheels;
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
DOI :
10.1109/IECON.2000.973132
