Motion analysis of a robotic wheelchair on climbing winding stairs in an open mode

Chun Ta Chen, Hoang Vuong Pham, Chih Jer Lin, Chiang Ho Cheng, Cheng Hsien Wu, Yu Cheng Chang

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

2 Citations (Scopus)

Abstract

This paper presents the mechanical design, the locomotion and the associated dynamic model of a new robotic wheelchair on climbing winding stairs. The prototype stair-climbing robotic wheelchair is constructed comprising a pair of rotational multi-limbed structures pivotally mounted on opposite sides of a support base so that the robotic wheelchair can ascend and descend stairs; especially, capability of climbing winding stairs is addressed. Based on the skid-steering analysis, the dynamic models for climbing winding stairs are developed for the trajectory planning and motion analysis. These models are required to ensure a passenger's safety in such a way that the robotic wheelchair is operated in an open mode. Numerical and experimental results are reported that show the behavior of the prototype as it climbs a winding stair in a dynamic turning.

Original languageEnglish
Title of host publicationProceedings - INDIN 2010
Subtitle of host publication8th IEEE International Conference on Industrial Informatics
Pages517-522
Number of pages6
DOIs
Publication statusPublished - 2010 Sep 20
Event8th IEEE International Conference on Industrial Informatics, INDIN 2010 - Osaka, Japan
Duration: 2010 Jul 132010 Jul 16

Publication series

NameIEEE International Conference on Industrial Informatics (INDIN)
ISSN (Print)1935-4576

Other

Other8th IEEE International Conference on Industrial Informatics, INDIN 2010
CountryJapan
CityOsaka
Period10/7/1310/7/16

ASJC Scopus subject areas

  • Computer Science Applications
  • Information Systems

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  • Cite this

    Chen, C. T., Pham, H. V., Lin, C. J., Cheng, C. H., Wu, C. H., & Chang, Y. C. (2010). Motion analysis of a robotic wheelchair on climbing winding stairs in an open mode. In Proceedings - INDIN 2010: 8th IEEE International Conference on Industrial Informatics (pp. 517-522). [5549690] (IEEE International Conference on Industrial Informatics (INDIN)). https://doi.org/10.1109/INDIN.2010.5549690