Human Riding Experiments on Soft Front Wheel Raising of Robotic Wheelchair with Inverse Pendulum Control

Kohda, Masayoshi

doi:10.1109/icit.2005.1600647

Cited by 6 publications

(5 citation statements)

References 7 publications

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“…So plans a trajectory of θ in order to control ẋ. Eliminating τ 1 from ( 11) and (12) gives us the zero dynamics of the simplified model:…”

Section: B High-level Controllermentioning

confidence: 99%

“…Second, the dynamically balancing inverted pendulum endows them with the ability to deal with very heavy payloads, their torques being canceled by a readily adjustable CoM-something that statically stable wheeled platforms can not achieve. These characteristics make them attractive for a wide range of applications such as Segway human transporters [1]- [5], transporters with seats [4]- [8], self-balancing wheel chairs [9]- [12] and WIP Humanoids [13]- [21]. WIP Humanoids add to the abilities of a WIP by offering a redundant manipulator, with one or more arms, that can be controlled to intelligently interact with their environment and perform useful tasks.…”

Section: Introductionmentioning

confidence: 99%

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Hierarchical optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids

Zafar

Hutchinson

Theodorou

2019

2019 International Conference on Robotics and Automation (ICRA)

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In this paper, we present a whole-body control framework for Wheeled Inverted Pendulum (WIP) Humanoids. WIP Humanoids are redundant manipulators dynamically balancing themselves on wheels. Characterized by several degrees of freedom, they have the ability to perform several tasks simultaneously, such as balancing, maintaining a body pose, controlling the gaze, lifting a load or maintaining end-effector configuration in operation space. The problem of whole-body control is to enable simultaneous performance of these tasks with optimal participation of all degrees of freedom at specified priorities for each objective. The control also has to obey constraint of angle and torque limits on each joint. The proposed approach is hierarchical with a low level controller for body joints manipulation and a high-level controller that defines center of mass (CoM) targets for the low-level controller to control zero dynamics of the system driving the wheels. The low-level controller plans for shorter horizons while considering more complete dynamics of the system, while the high-level controller plans for longer horizon based on an approximate model of the robot for computational efficiency.

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“…So plans a trajectory of θ in order to control ẋ. Eliminating τ 1 from ( 11) and (12) gives us the zero dynamics of the simplified model:…”

Section: B High-level Controllermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Hierarchical optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids

Zafar

Hutchinson

Theodorou

2019

2019 International Conference on Robotics and Automation (ICRA)

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show abstract

“…A new scheme for front wheel raising called back and forward moving scheme in which the wheelchair goes back first and goes forward was introduced in [18]. A further scheme has been reported by Takahashi and co-workers [19] [20] in which to move the seat instead of moving the rear wheel shaft. The seat is moved slowly and the desired chair body inclination is increased depending on the seat movement.…”

Section: Stair Climbing Wheelchair On Two Wheelsmentioning

confidence: 99%

Control of a stair climbing wheelchair

Ghani

Tokhi

Nasir

et al. 2012

IAES International Journal of Robotics and Automation (IJRA)

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This paper presents investigations into the control of a stair climbing wheelchair particularly for indoor usage. A virtual wheelchair model is developed using Visual Nastran software and linked with Matlab/Simulink for control purposes. The goals are to have a simple, compact and stable stairs climbing wheelchair in order to complete the ascending and descending tasks. The challenges are to ensure the wheelchair seat always stay at the upright position and to control both the front and rear wheel motors while climbing. PID control is used to provide appropriate torque to both front and rear wheels as well as at to the wheelchair seat during climbing. Results show that the wheelchair movement can be controlled smoothly and the seat maintained at the desired position with the adapted approach.

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“…Due to its maneuverability and high payload-to-weight ratio, the two-wheeled inverted pendulum (TWIP), typically with two parallel wheels, is still receiving much attention as a mobile platform for personal transporters [1], autonomous vehicles [2,3], robotic wheelchairs [4], wheeled humanoids [5,6], and wheeled bipedal robots [7]. It belongs to inherently unstable and underactuated systems with fewer actuators than the degrees of freedom needed for their control, which can be justified only when the instability of the pendulum is actively utilized to accomplish agile motions committed to diverse manipulation tasks.…”

Section: Introductionmentioning

confidence: 99%

Robust Stabilization of Underactuated Two-Wheeled Balancing Vehicles on Uncertain Terrains with Nonlinear-Model-Based Disturbance Compensation

Kim

Kwon

2022

Actuators

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Two-wheeled inverted pendulum (TWIP) vehicles are prone to lose their mobility and postural stability owing to their inherently unstable and underactuated dynamic characteristics, specifically when they encounter abruptly changed slopes or ground friction. Overcoming such environmental disturbances is essential to realize an agile TWIP-based mobile platform. In this paper, we suggest a disturbance compensation method that is compatible with unmanned TWIP systems in terms of the nonlinear-model-based disturbance observer, where the underactuated dynamic model is transformed to a fully actuated form by regarding the gravitational moment of the inverted pendulum as a supplementary pseudo-actuator to counteract the pitch-directional disturbances. Consequently, it enables us to intuitively determine the disturbance compensation input of the two wheels and the pitch reference input accommodating to uncertain terrains in real time. Through simulation and experimental results, the effectiveness of the proposed method is validated.

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Human Riding Experiments on Soft Front Wheel Raising of Robotic Wheelchair with Inverse Pendulum Control

Cited by 6 publications

References 7 publications

Hierarchical optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids

Hierarchical optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids

Control of a stair climbing wheelchair

Robust Stabilization of Underactuated Two-Wheeled Balancing Vehicles on Uncertain Terrains with Nonlinear-Model-Based Disturbance Compensation

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