Inverse Pendulum Control Research Articles

Experiments on step climbing and simulations on inverse pendulum control using robotic wheelchair with inverse pendulum control

A robotic wheelchair with inverse pendulum control has been proposed in this paper. By using the robotic wheelchair, a wheelchair-bound person can climb over a step up to about 7 cm without a helper's assistance. The robotic wheelchair moves on flat ground using four wheels. It raises its front wheels in front of a step, and maintains the inverse pendulum control. A user riding can go forwards and backwards using his/her body inclination maintaining the inverse pendulum control. The inverse pendulum control is stopped when the front wheels proceed over a step. After the front wheels land on the step, the robotic wheelchair can climb over the step, assisted by DC motor force. In order to raise the front wheels using small DC motors, the robotic wheelchair can move its rear wheel drive shafts. This paper presents the experiments on step climbing, the modelling of the control system, and the simulations on the inverse pendulum control. The step climbing function of the proposed robotic wheelchair has been successfully tested.

21109 車椅子倒立動作における事前に予告した場合の搭乗者の動揺の検討(ロボティクス(4),OS.15 ロボティクス)

A robotic wheelchair with inverse pendulum control has been proposed for a wheelchair-bound person to climb over a step without a helper's assistance. The robotic wheelchair raises its front wheels in front of a step, and maintains the inverse pendulum control. The human emotion of the rider during the inverse pendulum control has been discussed in this paper.

20902 倒立制御車椅子の倒立動作における人間の心理的反応(ロボティクス(1):移動ロボット,OS12 ロボティクス)

20902 倒立制御車椅子の倒立動作における人間の心理的反応(ロボティクス(1):移動ロボット,OS12 ロボティクス)

1P1-A06 事前に告知した場合の車椅子倒立動作における人間の心理的反応

d person to climb over a step without a helper's assistance. The robotic wheelchair raises its front wheels in front of a step, and maintains the inverse pendulum control. The human emotion of the rider during the inverse pendulum control has been discussed in this paper.

1P1-B4 倒立制御車椅子における人間の心理的反応の研究(講演,車椅子・自動車II)

A robotic wheelchair with inverse pendulum control has been proposed for a wheelchair-bound person to climb over a step without a helper's assistance. The robotic wheelchair raises its front wheels in front of a step, and maintains the inverse pendulum control. The human emotion of the rider during the inverse pendulum control has been discussed in this paper.

倒立振子制御を応用した超コンパクト荷物運搬支援カートの研究(交通・物流一般,OS0 交通・物流一般)

Conventional manual career carts personally used do not have power units, and they often have small tires. A leading operation becomes difficult in case these are used in an unevenness intense road surface and a place with a level difference. Moreover, on stairs, continuous leading operation becomes impossible. Thereby, it is necessary to raise up and carry. In this research, the compact carrier cart to which the control theory of inverse pendulum is applied in order to reduce a lead person's physical workload sharply is developed, Stabilization by inverse pendulum control, the control system design and systems development which secures the flattery nature to lead operation of a user are studied.

Mechanical design and control system of robotic wheelchair with inverse pendulum control

A robotic wheelchair with inverse pendulum control has been proposed in this paper. By using the robotic wheelchair, a wheelchair-bound person can climb over a step up to about 7 cm without a helper’s assistance. The robotic wheelchair moves on ‘at ground using four wheels. It raises its front wheels in front of a step, and maintains inverse pendulum control. A user riding can go forward and backward using his/her body inclination maintaining the inverse pendulum control. The inverse pendulum control is stopped when the front wheels proceed over a step. After the front wheels have landed on the step, the robotic wheelchair can climb over the step, assisted by d.c. motor force. In order to raise the front wheels using small d.c. motors, the robotic wheelchair can move its rear-wheel drive shafts. In this paper, the dynamics of the front-wheel raising, the mechanical designs of the robotic wheelchair, the control system of the inverse pendulum control and some of the experimental results are presented. The validity of the proposed robotic wheelchair has been confirmed by experimental results.

923 座椅子移動型倒立制御車椅子ロボット

An inverse pendulum controlled wheel chair robot was developed. A user can climb a step by using the robot system. In this paper, the simulation results of the inverse pendulum control were presented. The developed H2 control with integral action showed the better control performances than PI control.

305 パワーアシスト車椅子の倒立制御シミュレーション(オーガナイズドセッション3 メカニカルシステムのアドバンスト制御)

The inverse pendulum control of the power assist wheel chair robot is studied by using the computer simulation. This paper clarified that the response of the H_2 control converged faster than that of the PI control.

304 パワーアシスト車椅子の倒立開始実験(オーガナイズドセッション3 メカニカルシステムのアドバンスト制御)

304 パワーアシスト車椅子の倒立開始実験(オーガナイズドセッション3 メカニカルシステムのアドバンスト制御)