Step climbing using power assist wheel chair robot with inverse pendulum control

Abstract

A power assist wheel chair robot by which a patient can climb over steps/curbs up to about 10 cm without helper's assistance is proposed in this paper. A patient can maintain inverse pendulum control of the wheel chair after raising its front wheels. Next, a patient can move to the step maintaining the inverse pendulum control, and can climb over the step being assisted by DC motor force. The experimental results of the step climbing are presented in this paper.