Method of climbing up/down a step, bogie and wheelchair

Details Method of climbing up/down a step, bogie and wheelchair Method of climbing up/down a step, bogie and wheelchair

2005-01-25

2005-01-25

Lerner, Avraham (Department: 3611)

Motor vehicles

Special driving device

Stepper

C280SDIG001

Reexamination Certificate

active

06845830

ABSTRACT:
A bogie is provided with a wheel mechanism that can move each wheel in a vertical direction, and a control unit to perform impedance control of moving force to be applied to a wheel supporting unit in which a motor provided in the wheel mechanism is supporting the wheel. When the third wheel is to climb up a step, the control unit controls output of each wheel mechanism to cause the third wheel to make contact with a wall face of the step, and facilitate the wheel to move upward so that it can climb up the step, and the other wheels can be immediately made to contact with the ground even when the climbing wheel irregularly moves in a vertical direction, so that the bogie remains in a stable posture.

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Song et al. Machines that Walk: the Adaptive Suspension Vehicle, 1989, The MIT Press, Chapter 1.

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