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

Chun Ta Chen; Hoang Vuong Pham

doi:10.1109/ARSO.2008.4653582

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 proceeding › Conference 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 language	English
Title of host publication	IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008
DOIs	https://doi.org/10.1109/ARSO.2008.4653582
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

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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

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AB - 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.

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Access to Document

10.1109/ARSO.2008.4653582