@inproceedings{eb3f5559321e48f4b87d1dcad64643f1,
title = "Motion analysis of a robotic wheelchair on climbing winding stairs in an open mode",
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.",
author = "Chen, {Chun Ta} and Pham, {Hoang Vuong} and Lin, {Chih Jer} and Cheng, {Chiang Ho} and Wu, {Cheng Hsien} and Chang, {Yu Cheng}",
year = "2010",
doi = "10.1109/INDIN.2010.5549690",
language = "English",
isbn = "9781424473007",
series = "IEEE International Conference on Industrial Informatics (INDIN)",
pages = "517--522",
booktitle = "Proceedings - INDIN 2010",
note = "8th IEEE International Conference on Industrial Informatics, INDIN 2010 ; Conference date: 13-07-2010 Through 16-07-2010",
}