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In this paper, we introduce a mechanical wheel design capable of step climbing toward more convenient utilization of personal aids such as wheelchairs and walkers. Uneven floors with dips and depressions, thresholds, and steps have still been encountered in our daily routines in spite of the promotion of barrier-free environments. To overcome these difficulties, a step-climbing mechanism and its device...
The paper describes a stabilization control of two wheels driven wheelchair based on pitch angle disturbance observer (PADO). PADO makes it possible to stabilize the wheelchair motion and remove casters. This brings a sophisticated mobility of wheelchair because the casters are obstacle to realize step passage motion and so on. The proposed approach based on PADO is robust against disturbance of pitch...
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