Motion control of pendulum type robotic wheelchair considering mutual interference behavior between wheel and rotary links in climbing stairs

摘要

We are studying an inverted pendulum type robotic wheelchair with the ability of climbing stairs. The structure of the wheelchair consists of a seat slider and two rotary links between the front and rear wheels on either side. As the control, we used a linear-quadratic regulator consisting of a center of gravity control mode and a rotary link control mode. This work is focused on method for restraining movement of wheels when it climbs stairs, which causes fall of wheel chair. We grasp the mechanism the movement is caused by mutual interference behavior between wheel and rotary links in climbing stairs. We proposed two methods for decreasing interference behavior by changing the target track of rotary links and confirmed the effect of restraining movement of wheels.