階段昇降機能を有する倒立二輪型電動車いすの車輪・段差接触時の転倒防止手法の一提案

抄録

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 preventing fall of wheelchair when it contacts with the step. We grasp the mechanism that the fall is caused by the external force received from the side of step. We proposed a method to compensate for the attitude angle moment by the command value of the rotary link torque and confirm the effect of preventing the fall.