Dynamic Stability Control of Inverted-Pendulum-Type Robotic Wheelchair for Going Up and Down Stairs
Yuya Onozuka,Nobuyasu Tomokuni,Genki Murata,Motoki Shino,Yuya Onozuka,Nobuyasu Tomokuni,Genki Murata,Motoki Shino
The wheelchair is the major means of transport for elderly and physically disabled people in their daily lives. However it cannot overcome architectural barriers such as curbs and stairs. In this study, we developed an inverted-pendulum-type robotic wheelchair for climbing stairs. The wheelchair has a seat slider and two rotary links between the front and rear wheels on each side. When climbing up...
