Abstract
This paper reports an enhanced mechanical design and stability analysis of a new stair-climbing robotic wheelchair for the disable and elderly. The mechanism is based on a pair of rotational multi-limbed structures pivotally mounted on the opposite sides of the base. The corresponding short arm, long arm and support triangle comprising each rotational multi-limbed structure are actuated to rotate through epicyclic gear trains so that the robotic wheelchair can ascend and descend stairs in a statically stable way. Experimental results with carrying a person validate the feasibility of the proposed mechanism design and show the simplification of the associated operation process.
| Original language | English |
|---|---|
| Title of host publication | IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008 |
| DOIs | |
| Publication status | Published - 2008 |
| Externally published | Yes |
| Event | IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008 - Taipei, Taiwan Duration: 2008 Aug 23 → 2008 Aug 25 |
Other
| Other | IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008 |
|---|---|
| Country | Taiwan |
| City | Taipei |
| Period | 08/8/23 → 08/8/25 |
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
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Cite this
Chen, C. T., & Pham, H. V. (2008). Enhanced development and stability analysis of a new stair-climbing robotic wheelchair. In IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008 [4653582] https://doi.org/10.1109/ARSO.2008.4653582