On climbing winding stairs in an open mode for a new robotic wheelchair

Chun Ta Chen*, Hoang Vuong Pham

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


This paper presents the mechanical design, locomotion and associated dynamic models 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; in particular, the 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 analyses. These models are required to ensure a passenger's safety in such a way that the robotic wheelchair is operated in an open mode. Moreover, an equivalent constraint method is proposed for the prescribed motion of the robotic wheelchair on climbing winding stairs. The results of the simulation and maneuver are reported that show the behavior of the prototype as it climbs winding stairs in a dynamic turning.

Original languageEnglish
Pages (from-to)63-82
Number of pages20
JournalAdvanced Robotics
Issue number1-2
Publication statusPublished - 2012


  • Robotic wheelchair
  • dynamic turning
  • equivalent constraint motion planning
  • stair-climbing
  • winding stair

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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