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

研究成果: 書貢獻/報告類型會議貢獻

2 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
主出版物標題Proceedings - INDIN 2010
主出版物子標題8th IEEE International Conference on Industrial Informatics
頁面517-522
頁數6
DOIs
出版狀態已發佈 - 2010 九月 20
事件8th IEEE International Conference on Industrial Informatics, INDIN 2010 - Osaka, 日本
持續時間: 2010 七月 132010 七月 16

出版系列

名字IEEE International Conference on Industrial Informatics (INDIN)
ISSN(列印)1935-4576

其他

其他8th IEEE International Conference on Industrial Informatics, INDIN 2010
國家日本
城市Osaka
期間10/7/1310/7/16

ASJC Scopus subject areas

  • Computer Science Applications
  • Information Systems

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  • 引用此

    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. 於 Proceedings - INDIN 2010: 8th IEEE International Conference on Industrial Informatics (頁 517-522). [5549690] (IEEE International Conference on Industrial Informatics (INDIN)). https://doi.org/10.1109/INDIN.2010.5549690