%0 Journal Article
	%A Chun-Ta Chen and  Te-Tan Liao and  Hoang-Vuong Pham
	%D 2010
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 41, 2010
	%T On Climbing Winding Stairs for a Robotic Wheelchair
	%U https://publications.waset.org/pdf/4096
	%V 41
	%X 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.
	%P 404 - 409