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 |
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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 |
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Country | Taiwan |
City | Taipei |
Period | 2008/08/23 → 2008/08/25 |
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition