NDLI: Back and forward moving scheme of front wheel raising for inverse pendulum control wheel chair robot

Content Provider	IEEE Xplore Digital Library
Author	Takahashi, Y. Takagaki, T. Kishi, J. Ishii, Y.
Copyright Year	2001
Description	Author affiliation: Dept. of Syst. Design Eng., Kanagawa Inst. of Technol., Japan (Takahashi, Y.)
Abstract	A power assist wheel chair robot by which a patient can climb over steps/curbs without any helper's assistance is proposed. A patient can maintain inverse pendulum control of the wheel chair after raising its front wheels. Next, a patient can move to the step maintaining the inverse pendulum control, and can climb over the step being assisted by DC motor force. A light weight wheel chair system was optimally designed using small DC motors. The system required the patient's assistance to start the front wheel raising. A new front wheel raising scheme is proposed in the paper, which does not require the patient's assistance. The new scheme is using the back and forward moving scheme in which the wheel chair goes back first and then goes forward in order to start the front wheel raising.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	3189
Ending Page	3194
File Size	379334
Page Count	6
File Format	PDF
ISBN	0780365763
ISSN	10504729
DOI	10.1109/ROBOT.2001.933109
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-05-21
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wheels Wheelchairs Mobile robots DC motors Robot sensing systems Force control Aging Intelligent sensors Intelligent robots Shafts
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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