NDLI: Two-legged stair-climbing wheelchair and its stair dimension measurement using distance sensors

Content Provider	IEEE Xplore Digital Library
Author	Young-bong Bang Chang-hyuk Lee Je-hong Yoo Kyung-min Lee In-su Kim
Copyright Year	2011
Description	Author affiliation: Department of Intelligent Convergence Systems, Seoul National University, Suwon, 443-270, Korea (Chang-hyuk Lee) \|\| Advanced Institutes of Convergence Science and Technology, Seoul National University, Suwon, 443-270, Korea (Young-bong Bang; Je-hong Yoo) \|\| Hyundai motors, Hwasung, 445-706, Korea (Kyung-min Lee; In-su Kim)
Abstract	This paper presents a stair-climbing wheelchair mechanism and its stair dimension measurement method using distance sensors. The wheelchair climbs stairs using two legs having 7 degrees of freedom. The size of the proposed wheelchair is equal to or smaller than that of other commercially available wheelchairs. The proposed wheelchair can climb steep stairs (more than 30° slope), while the seat trajectory is smoothly controlled. Distance sensors are used for measuring the heights and widths of the stairs and the wheelchair direction error. Experiments were performed to test the stair-climbing mechanism and the sensing algorithm for the stair feature estimation.
Starting Page	1788
Ending Page	1791
File Size	1161885
Page Count	4
File Format	PDF
ISBN	9781457708350
ISSN	20937121
e-ISBN	9788993215038
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-10-26
Publisher Place	Korea (South)
Access Restriction	Subscribed
Rights Holder	ICROS
Subject Keyword	robot climb wheelchair displacement sensor stair Wheelchairs two-legged distance sensor
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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