TY - GEN
T1 - Improvements for Power-assisted Three-wheel Carrier Cart With Stair-climbing Ability
AU - Ishii, Toru
AU - Nagai, Isaku
AU - Watanabe, Keigo
AU - Shibanoki, Taro
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Carts and carry bags are used to transport goods, however, they place a heavy burden on the user especially when ascending or descending stairs. Crawlers, often used for mobile robots, suffer from slippage on stairs. The driving unit of proposed cart with power-assist has a planetary gear mechanism with three drive wheels on each side, and it can move on a plane by rotating the wheels and climb stairs by rotating the arm part. Although the burden of the user was reduced at both flat floors and stairs, there was a problem of poor operability for descending stairs. In this study, we propose a new power-assist control method to solve the problem in descending stairs and evaluate the method through experiments.
AB - Carts and carry bags are used to transport goods, however, they place a heavy burden on the user especially when ascending or descending stairs. Crawlers, often used for mobile robots, suffer from slippage on stairs. The driving unit of proposed cart with power-assist has a planetary gear mechanism with three drive wheels on each side, and it can move on a plane by rotating the wheels and climb stairs by rotating the arm part. Although the burden of the user was reduced at both flat floors and stairs, there was a problem of poor operability for descending stairs. In this study, we propose a new power-assist control method to solve the problem in descending stairs and evaluate the method through experiments.
KW - Power-assisted
KW - Stair-climbing Mechanism
KW - Three-wheel Carrier Cart
UR - http://www.scopus.com/inward/record.url?scp=85137812134&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85137812134&partnerID=8YFLogxK
U2 - 10.1109/ICMA54519.2022.9855966
DO - 10.1109/ICMA54519.2022.9855966
M3 - Conference contribution
AN - SCOPUS:85137812134
T3 - 2022 IEEE International Conference on Mechatronics and Automation, ICMA 2022
SP - 197
EP - 202
BT - 2022 IEEE International Conference on Mechatronics and Automation, ICMA 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 19th IEEE International Conference on Mechatronics and Automation, ICMA 2022
Y2 - 7 August 2022 through 10 August 2022
ER -