Open AccessProceedings Article
The research of tension optimal estimation and stair-climbing ability of transformationwheelchair robot
Yun Teng,Ting Wang,Chen Yao,Xiaofan Li +3 more
- pp 3716-3721
TLDR
A statics model of the wheelchair for the starting stage of stair-climbing is developed and results prove that the wheelchair can climb stairs stably when it takes advantage of tension estimation algorithm.Abstract:
To meet the rapid increasing demand of the equipment assisting the disabled and the old, a novel style transmuting track wheelchair robot is developed. It has the characteristic that the track tension can be determined dynamically. Compared to traditional method that keeps track tension constantly, dynamically determining tension can reduce power consumption obviously. Based on the fact that modeling track tension is complex, a fuzzy logic decision making method is developed to estimate the proportion of various factors that have effect on track tension. Combining with least square method, we get track tension optimal estimation algorithm. Considering the low speed characteristic of the wheelchair as climbing stairs and the track tension got by estimation algorithm, the paper develops a statics model of the wheelchair for the starting stage of stair-climbing. Simulation results prove that the wheelchair can climb stairs stably when it takes advantage of tension estimation algorithm.read more
Citations
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Journal ArticleDOI
Control of a stair climbing wheelchair
TL;DR: Investigations into the control of a stair climbing wheelchair particularly for indoor usage are presented and results show that the wheelchair movement can be controlled smoothly and the seat maintained at the desired position with the adapted approach.
Proceedings ArticleDOI
Optimization of fuzzy logic scaling parameters with spiral dynamic algorithm in controlling a stair climbing wheelchair: Ascending task
TL;DR: The proposed approach has improved the climbing performance in terms of minimizing the error of seat/tilt angle for user's comfort while reducing the settling time of the ascending operation.
Journal ArticleDOI
Simulation and control of multipurpose wheelchair for disabled/elderly mobility
N. M. Abdul Ghani,M. O. Tokhi +1 more
TL;DR: It is shown that the proposed modular fuzzy control approach is able to ensure system stability while performing multipurpose tasks such as manoeuvrability on flat surfaces, stairs climbing, standing in the upright position on two wheels and transformation back to standard four wheels with up to 50% less initial torque in comparison to previous designs.
Proceedings ArticleDOI
A Dwi-Phase Fuzzy Control Structure for an Auto-mode Stair Climbing Wheelchair
N. M. A. Ghani,M. O. Tokhi +1 more
TL;DR: A Dwi-phase fuzzy logic control is introduced in this work and evaluated through virtual environment to guarantee stability of the overall wheelchair while performing stair climbing task automatically, with an assistant-free mode.
Journal ArticleDOI
PD-fuzzy Control of a Stair Climbing Wheelchair
TL;DR: PD-Fuzzy controls are developed, tested and associated performances are assessed through intensive visual approach to ensure system stability and maintain smoothness of the climbing process.
References
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Journal ArticleDOI
Modeling of a stair-climbing wheelchair mechanism with high single-step capability
Murray Lawn,T. Ishimatsu +1 more
TL;DR: Primary considerations were inherent stability, provision of a mechanism that is physically no larger than a standard powered wheelchair, aesthetics, and being based on readily available low-cost components.
Proceedings ArticleDOI
Autonomous Stair Climbing with Reconfigurable Tracked Mobile Robot
TL;DR: Algorithms to autonomously climb stairs were derived and implemented for a specific mobile robot with the ability to traverse such obstacles by changing its tracks configuration and validated experimentally, illustrating the effectiveness of autonomous climbing of stairs.
Journal ArticleDOI
Track Tension Estimation in Tracked Vehicles Under Various Maneuvering Tasks
Kunsoo Huh,Daegun Hong +1 more
Journal ArticleDOI
Track Tension Controller Design and Experimental Evaluation in Tracked Vehicles
TL;DR: In this paper, a fuzzy logic controller is designed to control the track tension in the vehicles to minimize the excessive load on the tracks and to prevent track peeloff from the sprocket.
Proceedings ArticleDOI
Study on mechanism of a mobile robot used unstructured environment
Ting Wang,Yuechao Wang,Chen Yao +2 more
TL;DR: Based on the idea of snake-like robot, a novel mobile mechanism used in unstructured environment is proposed, which aims to solve the problems that a mobile robot must faced as discussed by the authors, such as viability, stability, flexibility and capability of climbing obstacles etc.