Dynamic control of a reconfigurable stair-climbing mobility system
نویسندگان
چکیده
منابع مشابه
Dynamic control of a reconfigurable stair-climbing mobility system
Electric-powered wheelchairs improve the mobility of people with physical disabilities, but the problem to deal with certain architectural barriers has not been resolved satisfactorily. In order to solve this problem, a stair-climbing mobility system (SCMS) was developed. This paper presents a practical dynamic control system that allows the SCMS to exhibit a successful climbing process when fa...
متن کاملEnhancing the Trajectory Generation of a Stair-Climbing Mobility System
Jose Abel Chocoteco 1, Rafael Morales 2,* and Vicente Feliu-Batlle 3 1 Instituto Tecnológico de Ciudad Guzmán (ITCG), Tecnológico Nacional de México (TecNM), Ciudad Guzmán 49100, Mexico; [email protected] 2 School of Industrial Engineering, University of Castilla-La Mancha (UCLM), 02071 Albacete, Spain 3 School of Industrial Engineering, University of Castilla-La Mancha (UCLM), 13071 Ciud...
متن کاملDynamic Optimization of Human Stair-Climbing Motion
The objective of this paper is to present our method of predicting and simulating visually realistic and dynamically consistent human stair-climbing motion. The digital human is modeled as a 55-degrees of freedom branched mechanical system with associated human anthropometry-based link lengths, mass moments of inertia, and centers of gravity. The joint angle profiles are determined using a B-sp...
متن کاملTowards a System of Cooperative Behavior-Based Stair Climbing Robots
This paper presents a summary of the current state of research in the field of cooperative mobile robots as it relates to robot stair climbing. The focus of this paper is to propose, based on current research, a system of cooperative robots that can work together to collectively traverse a staircase. The emphasis on this new system of robots will be placed on the behavior and communications whi...
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ژورنال
عنوان ژورنال: Robotica
سال: 2012
ISSN: 0263-5747,1469-8668
DOI: 10.1017/s0263574712000276