Front wheel raising and inverse pendulum control of power assist wheel chair robot
Front wheel raising and inverse pendulum control of power assist wheel chair robot
复制标题
助力轮椅机器人前轮抬起及逆摆控制
DOI：
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复制
发表时间：
1999
期刊：
影响因子：
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通讯作者：
S. Machida
中科院分区：
文献类型：
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作者：
Y. Takahashi;S. Ogawa;S. Machida
本文提出了一种动力辅助轮椅机器人，病人可以通过一个台阶高达约10厘米，没有一个助手。患者在抬起其前轮后可保持对轮椅的倒立摆控制。然后，患者可以移动到保持倒立摆控制的台阶，并且可以使用DC电动机力爬上台阶。本文介绍了轮椅前轮抬起的动力学、机构设计、控制系统、前轮抬起和倒立摆控制的实验结果。
A power assist wheel chair robot by which a patient can climb over a step up to about 10 cm without a helper is proposed in this paper. A patient can maintain inverse pendulum control of the wheel chair after raising its front wheels. Then, a patient can move to the step maintaining the inverse pendulum control, and can climb over the step using DC motor force. In this paper, the dynamics of the front wheel raising of the wheel chair, the mechanical designs, the control system, the experimental results of the front wheel raising and the inverse pendulum control are presented.