제어로봇시스템학회:학술대회논문집
- 2001.10a
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- Pages.89.2-89
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- 2001
H2 Control of Wheel Chair Robot with Inverse Pendulum Control
- Takakazu, Ishimatsu (Nagasaki Univ.) ;
- Chan, Tony (Nanyang Technological Univ.)
- Published : 2001.10.01
Abstract
Wheel chair bound persons need assistance since there are many steps or curbs or other obstacles blocking their path in the roadways and walkways. Although a step may be small, it may be very difficult for such a person to climb over it. Therefore, we are proposing a power assist wheel chair robot that enables a wheel chair bound person to climb over steps up to about 10 centimeters in height without assistance from others. By using the proposed wheel chair robot, a user can maintain inverse pendulum control after raising its front wheels Then, a user can move forward to the step maintaining the inverse pendulum control, and can climb over the step using motor force of a rear wheel shaft ...
Keywords