@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},