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 Title: |
US6003624:
Stabilizing wheeled passenger carrier capable of traversing stairs
[ Derwent Title ]
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| Country: |
US United States of America
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| Inventor: |
Jorgensen, Glen Howard; Woodinville, WA
Garbini, Joseph L.; Seattle, WA
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| Assignee: |
University of Washington, Seattle, WA
other patents from UNIVERSITY OF WASHINGTON (600100) (approx. 459)
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| Published / Filed: |
1999-12-21
/ 1995-06-06
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| Application Number: |
US1995000468976
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| IPC Code: |
Advanced:
A61G 5/06;
IPC-7:
B62D 61/12;
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| ECLA Code: |
A61G5/06A; K61G5/04A6; K61G5/10S14; K61G203/14;
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| U.S. Class: |
Current:
180/006.5;
180/007.1;
180/021;
180/065.8;
180/907;
280/005.2;
701/124;
Original:
180/006.5;
180/007.1;
180/021;
180/065.8;
180/907;
280/005.2;
701/124;
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| Field of Search: |
180/7.1,6.5,8.2,21,65.1,65.8,8.3,8.5,8.6,907,218,209
280/5.22,5.28,DIG. 10
901/001
701/022,38,70,124
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| Priority Number: |
| 1995-06-06 |
US1995000468976 |
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| Abstract: |
A double-inverted wheeled passenger carrier (WPC) that is actively stabilizing on two or more axially-spaced wheels through a controller that senses and adjusts three degrees of freedom that allows the WPC to actively stabilize itself to keep a passenger essentially upright during movement, including traversing stairs and the like. The WPC (10) includes a wheel assembly (12) having at least two axially-spaced wheels (14), each wheel having an axis of rotation (15), a frame (16) having a first pivot (18) and second pivot (22), and a chair (20). The frame (16) is attached to the wheel assembly (12) at the first pivot (18). The chair (20) is attached to the frame (16) at the second pivot (22), allowing the chair (20) to rotate independently of the wheels (14).
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| Attorney, Agent or Firm: |
Petrich, Kathleen T. ;
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| Primary / Asst. Examiners: |
Boehler, Anne Marie;
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| INPADOC Legal Status: |
Show legal status actions
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| Family: |
None
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First Claim:
Show all 13 claims |
What is claimed is:
1. An actively stabilizing wheeled passenger carrier capable of traversing stairs comprising:
- a wheel assembly having at least two axially-spaced wheels, each said wheel having an axis of rotation;
- a rigid frame having at least two pivots, wherein the first of said pivots attaches said frame to said wheel assembly;
- a chair, wherein the second of said pivots attaches said frame to said chair, allowing said chair rotational movement about the second pivot independent of the wheels;
- a first motor assembly to apply torque between said wheels and said frame;
- a second motor assembly to apply torque between the frame and the chair; and
- control means to sense and control three degrees of freedom: the first being an angle between the chair and a vertical position, the second being an angle between the frame and the vertical position, and the third being an angle between the wheels and an initial position, such control being accomplished through application of torques from the first and second motor assemblies;
- wherein the control means controls the three degrees of freedom to actively stabilize the wheeled passenger carrier to keep a passenger essentially upright during movement, including traversing stairs and the like, and
- wherein the control means includes a means to directly sense three measured outputs: the first being an absolute angular acceleration of the frame, the second being a relative angular velocity between the frame and the chair, and the third being a relative angular velocity between the frame and the wheels.
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| Background / Summary: |
Show background / summary
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| Drawing Descriptions: |
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| Description: |
Show description
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| Forward References: |
Show 81 U.S. patent(s) that reference this one
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| Foreign References: |
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| Other Abstract Info: |
DERABS G2000-105038
DERABS G2000-105038
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| Other References: |
"A Wheeled Inverse Pendulaum Type Self-Contained Mobile Robot and its Two-Dimensional Trajectory Control" by Koyanagi et al, International Synposium on Measurement and Control in Robotics, Nov. 15-19, 1992.
APPENDIX, Generation of Equations of Motion and State, by Glen Jorgensen, 1995.
"The Curb Traversing Wheelchair," article by DelNegro and March, Presented at the 1994 International Mechanical Engineering Cong. & Exhib. of the winter annual meeting at Chicago, Ill. No. 94-WA/DE-10; The American Soc. of Mech. Engs., 345 E. 47th St., NY NY 10017.
"A Look-Up Table-Based Self-Organizing Fuzzy Plus Linear Controller," by Lee, Kim & Suh, Mechatronics, vol. 4, No. 1, pp. 71-90, 1994. Printed in Great Britian.
(20 pages)
Cited by 10 patents
[ISI abstract]
"Taking Andros for a Walk," by White et al., Nuclear Engineering International, p. 52-53, Mar. 1989.
(2 pages)
"Development of Mobile Maintenance Robot System `AIMARS`," by Nakayama et al., Proceedings of the USA/Japan Symposium on Flexible Automation Crossing Bridges: Advances in Flexible Automation and Robotics, ASME, NY NY, c. 1988.
"Postural and Driving Control of the Controlling Arm-Wheel-Type Parallel Bicycle," by Yamafuji, 20th ISIR, pp. 227-234, Oct. 1989.
Technical Article: "Study on the Postural and Driving Control of a Coaxial Bicycle," No. 87-0901 May 1988, Japanese (Not translated.) by Yamafuji et al. pp. 1114-1121.
Technical Article: Study on the Control of the Variable-Structure-Type Locomotive Robot (2nd Report; Walking forms and controlling methods of the leg-leg type); by Hirabayashi et al., No. 89-1175 B, Sep. 1990. Japanese (Not translated.) pp. 136-141.
Technical Article: Motion Control of the Parallel Bicycle-Type Mobile Robot Composed of a Triple Inverted Pendulum (2nd Report: Driving control); by Momoi et al., 90-1553 B, Sep. 1991. Japanese (Not translated.) pp. 154-159.
Technical Article: "Synchronous Steering Control of a Parallel Bicycle," by Yamafuji,et al., No. 88-1181, May 1989, pp. 1229-1234.
Translated Article, "Motion Control of the Parallel Bicycle-Type Mobile Robot which is Composed of a Triple Inverted Pendulum (1st Report, Stability Control of Standing Upright, Ascending and Descending Stairs;" Nihon Kikai Gakki Rombunshu, vol. 57, No. 538 (Jun. 1991).
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