The wheelchair is the major means of transport for elderly and physically disabled people in their daily lives. However it cannot overcome architectural barriers such as curbs and stairs. In this study, we developed an inverted-pendulum-type robotic wheelchair for climbing stairs. This wheelchair has a seat slider and two rotary links between the front and rear wheels on each side. When climbing stairs, the wheelchair rotates the rotary links while maintaining an inverted state of a mobile body by controlling the position of the center of gravity using a seat slider. In previous research, we confirmed that the wheelchair can climb by applying the control method consisting of a center-of-gravity control phase and rotary link control phase. However, it took approximately 15 s to rotate the rotary links during climbing because faster climbing causes the movement of wheels and the wheelchair to fall. This paper focuses on a control method to restrain the movement of the wheels when the stair climbing speed is increased. We realized that the movement was caused by forces acting on the pitch angle, such as the inertial force and the reaction of the driving force. We proposed the method considering the dynamic equilibrium of the pitch angle and confirmed the effect of the restraining wheels’ movement when the proposed method was applied.

中文翻译：

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考虑动态平衡的倒立摆式机器人轮椅爬楼梯的姿态控制

轮椅是老年人和肢体残疾人日常生活中的主要交通工具。但是，它无法克服路边和楼梯等建筑障碍。在这项研究中，我们开发了倒立摆式机器人轮椅，用于爬楼梯。这款轮椅有一个座椅滑块和左右两侧之间的两个旋转连杆。当爬楼梯时，轮椅通过使用座椅滑块控制重心的位置来在保持移动体倒立状态的同时旋转旋转连杆。在先前的研究中，我们确认轮椅可以通过采用重心控制阶段和旋转连杆控制阶段组成的控制方法来攀爬。然而，爬升过程大约需要15 s来旋转旋转连杆，因为更快的爬升会导致车轮和轮椅的运动掉落。本文着重介绍一种控制方法，该方法可在爬楼梯速度提高时限制车轮的运动。我们意识到，运动是由作用在俯仰角上的力引起的，例如惯性力和驱动力的反作用力。我们提出了一种考虑俯仰角动态平衡的方法，并在应用该方法时确认了约束轮运动的影响。例如惯性力和驱动力的反作用力。我们提出了一种考虑俯仰角动态平衡的方法，并在应用该方法时确认了约束轮运动的影响。例如惯性力和驱动力的反作用力。我们提出了一种考虑俯仰角动态平衡的方法，并在应用该方法时确认了约束轮运动的影响。