Traveling control of two-wheel wheelchair using variable command

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.