On Climbing Winding Stairs For A Robotic Wheelchair

Chun-Ta Chen, Te-Tan Liao, Hoang-Vuong Pham
2010 Zenodo  
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
more » ... b 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.
doi:10.5281/zenodo.1331523 fatcat:eq2emionb5ernbcuhzkk5payvq