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This paper describes a novel capacitor regenerative braking control scheme of electric powered wheelchairs for efficient driving on downward slopes. ??Electric powered wheelchair?? which generates the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people, however, the energy efficiency has to be further improved because it...
This paper describes the consideration of an optimum ecology driving technique to be used for electric vehicles. Modern control theory is considered to obtain the optimal running pattern. A simple mathematical model of the electrical vehicle was derived based on ideal conditions in which outside disturbances are not considered. The optimal running pattern was revealed in results from a simulation...
Wheelchair bound persons need assistance since there are many steps in roadways or walkways. Therefore, we are proposing a robotic wheelchair which enables a wheelchair bound person to climb over steps without helperpsilas assistance. By using the proposed robotic wheelchair, a user can maintain inverse pendulum control after raising its front wheels (casters). Then, a user can move forward to the...
We propose a landing control for a humanoid robot in order to soften the shock when a robot jumps from a slightly higher surface such as a step. We fabricated a three-link robot mechanism with two DC motors, and controlled it using a personal computer. The designed actuator uses a cushion mechanism with a torsion spring. We monitored the robot motion with a CCD camera, and analyzed the captured pictures...
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