Inverse pendulum controlled two wheel drive system

A robotic wheel chair with inverse pendulum control has been proposed so that a wheel chair bound person can climb over a step. The proposed robotic wheel chair generally moves using four wheels on a flat floor in order to maintain the stability. When the robotic wheel chair moves just in front of a step, the robotic wheel chair raises the front wheels, and maintains the inverse pendulum control. A rider can go forward or backward by his/her body inclination. After the front wheels land on a step, the robotic wheel chair can climb over a step assisted by rear wheel drive motors.