TY - GEN
T1 - An assist control of step climbing motion in two-wheel electric powered wheelchair with controlled casters
AU - Hirata, Kazuya
AU - Murakami, Toshiyuki
PY - 2014/1/1
Y1 - 2014/1/1
N2 - Recently, two-wheel electric powered wheelchair (EPW) attracts attention since their mobility is better than that of conventional four-wheel EPW. However, it is statically unstable due to underactuated structure. Then, stabilization control needs to be achieved whenever disturbances are added by road environment. In this paper, novel structure of two-wheel EPW is proposed. Controlled casters are attached at the body of two-wheel EPW and it can change two-wheel drive and four-wheel drive by position control of controlled casters. Furthermore, an assist control of step climbing motion in two-wheel EPW is proposed. Reaction Torque Observer (RTOB) and Repulsive Compliance Control (RCC) are used in order to generate the optimal pitch angle command for climbing the step. Furthermore, pitch angle command is transformed into the position command of controlled casters based on geometric equation. Then two-wheel EPW achieve step climbing motion easily by controlled casters. Experimental results are evaluated in terms of the comfort of human based on ISO 2631-1.
AB - Recently, two-wheel electric powered wheelchair (EPW) attracts attention since their mobility is better than that of conventional four-wheel EPW. However, it is statically unstable due to underactuated structure. Then, stabilization control needs to be achieved whenever disturbances are added by road environment. In this paper, novel structure of two-wheel EPW is proposed. Controlled casters are attached at the body of two-wheel EPW and it can change two-wheel drive and four-wheel drive by position control of controlled casters. Furthermore, an assist control of step climbing motion in two-wheel EPW is proposed. Reaction Torque Observer (RTOB) and Repulsive Compliance Control (RCC) are used in order to generate the optimal pitch angle command for climbing the step. Furthermore, pitch angle command is transformed into the position command of controlled casters based on geometric equation. Then two-wheel EPW achieve step climbing motion easily by controlled casters. Experimental results are evaluated in terms of the comfort of human based on ISO 2631-1.
KW - Disturbance observer
KW - Electric powered wheelchair (EPW)
KW - Reaction torque observer
KW - Step climbing
UR - http://www.scopus.com/inward/record.url?scp=84903157664&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84903157664&partnerID=8YFLogxK
U2 - 10.1109/AMC.2014.6823322
DO - 10.1109/AMC.2014.6823322
M3 - Conference contribution
AN - SCOPUS:84903157664
SN - 9781479923243
T3 - International Workshop on Advanced Motion Control, AMC
SP - 440
EP - 445
BT - 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
Y2 - 14 March 2014 through 16 March 2014
ER -