Enhanced development and stability analysis of a new stair-climbing robotic wheelchair

Chun Ta Chen, Hoang Vuong Pham

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

1 Citation (Scopus)

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 languageEnglish
Title of host publicationIEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008
DOIs
Publication statusPublished - 2008
Externally publishedYes
EventIEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008 - Taipei, Taiwan
Duration: 2008 Aug 232008 Aug 25

Other

OtherIEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008
CountryTaiwan
CityTaipei
Period08/8/2308/8/25

    Fingerprint

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition

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