Steering control in multi-degrees-of-freedom two-wheeled wheel chair on slope environment

Sakurako Hamatani; Takahiro Nozaki; Toshiyuki Murakami

doi:10.1109/IECON.2016.7793397

Steering control in multi-degrees-of-freedom two-wheeled wheel chair on slope environment

Sakurako Hamatani, Takahiro Nozaki, Toshiyuki Murakami

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

Abstract

As the development of electrical transportation systems, two-wheeled mobile robots have been widely studied because of the high mobility. Among them, the two-wheeled wheel chair is the wheel chair without caster wheels, and moves and stabilizes with only two wheels. However, wheel chairs cannot move lateral direction in general, and they sometimes fall down and cause into serious accidents. In this paper, lateral directional mode and its control method are proposed to solve this problem, and the validity of proposal is checked through simulations. The results are evaluated by the movement distance and the change of body's pitch angle.

Original language	English
Title of host publication	Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
Publisher	IEEE Computer Society
Pages	6181-6186
Number of pages	6
ISBN (Electronic)	9781509034741
DOIs	https://doi.org/10.1109/IECON.2016.7793397
Publication status	Published - 2016 Dec 21
Event	42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy Duration: 2016 Oct 24 → 2016 Oct 27

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

Other

Other	42nd Conference of the Industrial Electronics Society, IECON 2016
Country/Territory	Italy
City	Florence
Period	16/10/24 → 16/10/27

Keywords

Mobile Robots
Multi-degrees-of-freedom
Observers
Sensorless Control
Stabilized Control
Steering Control
Two-wheeled wheel chair

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2016.7793397

Cite this

Hamatani, S., Nozaki, T., & Murakami, T. (2016). Steering control in multi-degrees-of-freedom two-wheeled wheel chair on slope environment. In Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society (pp. 6181-6186). Article 7793397 (IECON Proceedings (Industrial Electronics Conference)). IEEE Computer Society. https://doi.org/10.1109/IECON.2016.7793397

Steering control in multi-degrees-of-freedom two-wheeled wheel chair on slope environment. / Hamatani, Sakurako; Nozaki, Takahiro ; Murakami, Toshiyuki.
Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society. IEEE Computer Society, 2016. p. 6181-6186 7793397 (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hamatani, S, Nozaki, T & Murakami, T 2016, Steering control in multi-degrees-of-freedom two-wheeled wheel chair on slope environment. in Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society., 7793397, IECON Proceedings (Industrial Electronics Conference), IEEE Computer Society, pp. 6181-6186, 42nd Conference of the Industrial Electronics Society, IECON 2016, Florence, Italy, 16/10/24. https://doi.org/10.1109/IECON.2016.7793397

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Steering control in multi-degrees-of-freedom two-wheeled wheel chair on slope environment

Abstract

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Keywords

ASJC Scopus subject areas

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