{"title":"On Climbing Winding Stairs for a Robotic Wheelchair","authors":"Chun-Ta Chen, Te-Tan Liao, Hoang-Vuong Pham","volume":41,"journal":"International Journal of Mechanical and Mechatronics Engineering","pagesStart":404,"pagesEnd":410,"ISSN":"1307-6892","URL":"https:\/\/publications.waset.org\/pdf\/4096","abstract":"In this paper motion analysis on a winding\r\nstair-climbing is investigated using our proposed rotational arm type\r\nof robotic wheelchair. For now, the robotic wheelchair is operated in\r\nan open mode to climb winding stairs by a dynamic turning, therefore,\r\nthe dynamics model is required to ensure a passenger-s safety.\r\nEquations of motion based on the skid-steering analysis are developed\r\nfor the trajectory planning and motion analysis on climbing winding\r\nstairs. Since the robotic wheelchair must climb a winding staircase\r\nstably, the winding trajectory becomes a constraint equation to be\r\nfollowed, and the Baumgarte-s method is used to solve for the\r\nconstrained dynamics equations. Experimental results validate the\r\nbehavior of the prototype as it climbs a winding stair.","references":"[1] P. Wellman., V. Krovi, V. Kumar and W. Harwin, \"Design of a\r\nwheelchair with Legs for people with Motor Disabilities\", IEEE\r\nTransactions on Rehabilitation Engineering, Vol.3, No. 4, pp. 343-353,\r\n1995.\r\n[2] S. Hirose, K. Yoneda, K. Arai and T. Ibe, \"Design of a quadruped walking\r\nvehicle for dynamic walking and stair climbing\", Advanced Robotics,\r\nVol. 9, No. 2, pp. 107-124, 1995.\r\n[3] D. J. Pack, \"Perception-based control for a quadruped walking robot\", in\r\nProceedings of the IEEE International Conference on Robotics and\r\nAutomation, 1996, pp. 2994-3001.\r\n[4] J. D. Martens and W. S. Newman \"Stabilization of a mobile robot\r\nclimbing stairs\", in Proceedings of the IEEE International Conference on\r\nRobotics & Automation, 1994, pp. 2501-2507.\r\n[5] T. Kagiwada, \"Robot design for stair navigation\", JSME International\r\nJournal, Series C: Dynamics, Control, Robotics, Design and\r\nManufacturing, Vol. 39, No3, pp. 629-635, 1996.\r\n[6] Taguchi, K., \"Enhanced wheel system for step climbing\", Advanced\r\nRobotics, Vol. 9, No. 2, pp. 137-147, 1995.\r\n[7] Y. Uchida, K. Furuichi and S. Hirose, \"Fundamental performance of 6\r\nwheeled off-road vehicle HELOS-V\", in Proc. of the 1999 IEEE\r\nInternational Conference on Robotics & Automation, pp. 2336-234, 1999.\r\n[8] D. Din and R. A. Cooper, \"Electric-powered wheelchair\", IEEE Control\r\nSystems Magazine, pp. 22-34, 2005.\r\n[9] M. Miyagi, T. Uchida, T. Komeda, H. Komeda and H. Funakubo,\r\n\"Development of stair climbing wheelchair with legs and wheels system\r\n(1st Report)-Development of stair climbing mechanism\", Journal of the\r\nJapan Society for Precision Engineering(in Japanese), Vol.64, No.3, pp.\r\n403-407, 1998.\r\n[10] N. G. Bourbakis, \"Kydonas-an autonomous hybrid robots: walking and\r\nclimbing\", IEEE Robotics & Automation Magazine, pp. 52-59, 1998.\r\n[11] M. J. Lawn and T. Ishimatsu, \"Modeling of a stair-climbing wheelchair\r\nmechanism with high single-step capability,\" IEEE Transaction on\r\nNeural Systems and Rehabilitation Research, Vol. 11, No. 3, pp.\r\n323-332,2003.\r\n[12] R. Morales, V. Feliu, A. Gonzalez and P. Pintado, \"Kinematic model of a\r\nnew staircase climbing wheelchair and its experimental validation\", The\r\ninternational Journal of Robotics Research, Vol. 25, No. 9, pp.\r\n825-841 ,2006.\r\n[13] A. Gonzalez, R. Morales, V. Feliu and P. Pintado, \"Improving the\r\nmechanical design of new staircase wheelchair\", Industrial Robot: An\r\nInternational Journal, Vol. 34, No. 2, pp. 110-115, 2007.\r\n[14] C. Chen, C. Feng and Y. Hsieh, \"Design and realization of a mobile\r\nwheelchair robot for all terrains\", Advanced Robotics, Vol. 17, No. 8, pp.\r\n739-760, 2003.","publisher":"World Academy of Science, Engineering and Technology","index":"Open Science Index 41, 2010"}