WASET
    Nan Ding and  Motoki Shino and  Nobuyasu Tomokuni and  Genki Murata,  Fall Avoidance Control of Wheeled Inverted Pendulum Type Robotic Wheelchair While Climbing Stairs.   journal   = {International Journal of Biomedical and Biological Engineering}, [online]. World Academy of Science, Engineering and Technology.
    March 2017, vol. 124(4). 168 - 175
    [viewed 19 April 2024]. Available from: https://publications.waset.org/pdf/10006974.