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)

抄録

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.