Improvements for Power-assisted Three-wheel Carrier Cart With Stair-climbing Ability

Toru Ishii, Isaku Nagai, Keigo Watanabe, Taro Shibanoki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publication2022 IEEE International Conference on Mechatronics and Automation, ICMA 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages197-202
Number of pages6
ISBN (Electronic)9781665408523
DOIs
Publication statusPublished - 2022
Event19th IEEE International Conference on Mechatronics and Automation, ICMA 2022 - Guilin, Guangxi, China
Duration: Aug 7 2022Aug 10 2022

Publication series

Name2022 IEEE International Conference on Mechatronics and Automation, ICMA 2022

Conference

Conference19th IEEE International Conference on Mechatronics and Automation, ICMA 2022
Country/TerritoryChina
CityGuilin, Guangxi
Period8/7/228/10/22

Keywords

  • Power-assisted
  • Stair-climbing Mechanism
  • Three-wheel Carrier Cart

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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