On climbing stairs for an autonomous vision-guided wheelchair robot

Chun Ta Chen, Te Tan Liao, Shyi Kae Yang

Research output: Contribution to journalArticle

Abstract

In this paper a vision-guided technology is applied to our newly developed wheelchair robot for autonomous stair-climbing. In order to climb a flight of stairs automatically, a CCD system combining with a line laser mounted on this wheelchair robot is used to detect stairs. After performing the detection on the edges of steps and image processing, the captured image coordinates can be transformed into the real-world coordinates, and the required dimensions of steps are deduced. The corresponding rotational angles for the associated arms of the wheelchair robot are then calculated from the kinematics and one-step-ahead motion planning algorithm such that the autonomous vision-guided stair-climbing can be implemented reliably. Finally, the experiments validate that the wheelchair robot can climb stairs autonomously using the vision-guided technology.

Original languageEnglish
Pages (from-to)631-636
Number of pages6
JournalAdvanced Science Letters
Volume9
DOIs
Publication statusPublished - 2012 Jul 2

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Stairs
Wheelchairs
robot
Robot
Robots
image processing
kinematics
laser
flight
Technology
Motion Planning
Biomechanical Phenomena
Image Processing
Kinematics
Motion planning
Lasers
Charge coupled devices
experiment
Laser
Angle

Keywords

  • Autonomous
  • Stair
  • Vision-guided
  • Wheelchair robot

ASJC Scopus subject areas

  • Computer Science(all)
  • Health(social science)
  • Mathematics(all)
  • Education
  • Environmental Science(all)
  • Engineering(all)
  • Energy(all)

Cite this

On climbing stairs for an autonomous vision-guided wheelchair robot. / Chen, Chun Ta; Liao, Te Tan; Yang, Shyi Kae.

In: Advanced Science Letters, Vol. 9, 02.07.2012, p. 631-636.

Research output: Contribution to journalArticle

Chen, Chun Ta ; Liao, Te Tan ; Yang, Shyi Kae. / On climbing stairs for an autonomous vision-guided wheelchair robot. In: Advanced Science Letters. 2012 ; Vol. 9. pp. 631-636.
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