%0 Journal Article
	%A Nan Ding and  Motoki Shino and  Nobuyasu Tomokuni and  Genki Murata
	%D 2017
	%J International Journal of Biomedical and Biological Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 124, 2017
	%T Fall Avoidance Control of Wheeled Inverted Pendulum Type Robotic Wheelchair While Climbing Stairs
	%U https://publications.waset.org/pdf/10006974
	%V 124
	%X The wheelchair is the major means of transport for
physically disabled people. However, it cannot overcome architectural
barriers such as curbs and stairs. In this paper, the authors proposed
a method to avoid falling down of a wheeled inverted pendulum type
robotic wheelchair for climbing stairs. The problem of this system
is that the feedback gain of the wheels cannot be set high due to
modeling errors and gear backlash, which results in the movement
of wheels. Therefore, the wheels slide down the stairs or collide with
the side of the stairs, and finally the wheelchair falls down. To avoid
falling down, the authors proposed a slider control strategy based on
skyhook model in order to decrease the movement of wheels, and a
rotary link control strategy based on the staircase dimensions in order
to avoid collision or slide down. The effectiveness of the proposed
fall avoidance control strategy was validated by ODE simulations and
the prototype wheelchair.
	%P 168 - 175