Stair-climbing gait for a four-wheeled vehicle
TLDR
A gait algorithm based on a pace gait is proposed, and the performance of this proposed stair-climbing gait for a four-wheeled vehicle is evaluated.Abstract:
This paper proposes a stair-climbing gait for a four-wheeled vehicle. The idea and methodology of climbing stairs are described, and the results of experiments are shown. Crawler-type vehicles and vehicles with special, complicated mechanisms are commonly used for climbing continuous steps (stairs). In contrast, in this paper, a four-wheeled vehicle with additional degrees of freedom, whose mechanism is not as complicated, is discussed. A gait algorithm based on a pace gait is proposed, and its performance is evaluated.read more
Citations
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Journal ArticleDOI
Mini-review: Robotic wheelchair taxonomy and readiness
Sivashankar Sivakanthan,Jorge Candiotti,S. Andrea Sundaram,Jonathan Duvall,James Sergeant,Rosemarie Cooper,Shantanu Satpute,Rose L. Turner,Rory A. Cooper +8 more
TL;DR: In this paper , a taxonomy of power wheelchair and mobile robot standards, the ICF and, PHAATE models, is presented and a readiness model supported by a mini-review is presented.
Journal ArticleDOI
Mapping wheelchair functions and their associated functional elements for stair climbing accessibility: a systematic review.
TL;DR: In this article , a review of 112 research articles is presented for the purpose of extracting the relationship between WC design elements and the functions associated with them, and a cross-functional mapping between functional elements and their dominant function is performed.
Proceedings ArticleDOI
Methodology of climbing and descending stairs for four-wheeled vehicles
Shuro Nakajima,Shin Sawada +1 more
TL;DR: In this article, the authors proposed a methodology of climbing and descending stairs for four-wheeled vehicles based on a wheel mechanism, where two motions are switched between for their vehicle to climb and descend stairs.
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