@article{(Open Science Index):https://publications.waset.org/pdf/4096, title = {On Climbing Winding Stairs for a Robotic Wheelchair}, author = {Chun-Ta Chen and Te-Tan Liao and Hoang-Vuong Pham}, country = {}, institution = {}, abstract = {In this paper motion analysis on a winding stair-climbing is investigated using our proposed rotational arm type of robotic wheelchair. For now, the robotic wheelchair is operated in an open mode to climb winding stairs by a dynamic turning, therefore, the dynamics model is required to ensure a passenger-s safety. Equations of motion based on the skid-steering analysis are developed for the trajectory planning and motion analysis on climbing winding stairs. Since the robotic wheelchair must climb a winding staircase stably, the winding trajectory becomes a constraint equation to be followed, and the Baumgarte-s method is used to solve for the constrained dynamics equations. Experimental results validate the behavior of the prototype as it climbs a winding stair.}, journal = {International Journal of Mechanical and Mechatronics Engineering}, volume = {4}, number = {5}, year = {2010}, pages = {404 - 409}, ee = {https://publications.waset.org/pdf/4096}, url = {https://publications.waset.org/vol/41}, bibsource = {https://publications.waset.org/}, issn = {eISSN: 1307-6892}, publisher = {World Academy of Science, Engineering and Technology}, index = {Open Science Index 41, 2010}, }