Dynamic control of a reconfigurable stair-climbing mobility system

Morón Fernández, Carlos and Somolinos Sánchez, José Andrés and Cerrada, J. (2013). Dynamic control of a reconfigurable stair-climbing mobility system. "Robotica", v. 31 (n. 2); pp. 295-310. ISSN 0263-5747. https://doi.org/10.1017/S0263574712000276.

Description

Title: Dynamic control of a reconfigurable stair-climbing mobility system
Author/s:
  • Morón Fernández, Carlos
  • Somolinos Sánchez, José Andrés
  • Cerrada, J.
Item Type: Article
Título de Revista/Publicación: Robotica
Date: March 2013
ISSN: 0263-5747
Volume: 31
Subjects:
Freetext Keywords: Electric-powered wheelchairs; Stair-climbing devices; Dynamic modeling; Dynamic control; Mechatronics
Faculty: E.T.S.I. Navales (UPM)
Department: Sistemas Oceánicos y Navales [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

Full text

[img]
Preview
PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (4MB)

Abstract

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 faced with typical architectural barriers such as curbs, ramps, or staircases. The implemented control system depicts high simplicity, computational efficiency, and the possibility of an easy implementation in a microprocessor-/microcontroller-based system. Finally, experiments are included to support theoretical results.

More information

Item ID: 29148
DC Identifier: http://oa.upm.es/29148/
OAI Identifier: oai:oa.upm.es:29148
DOI: 10.1017/S0263574712000276
Official URL: http://journals.cambridge.org/action/displayAbstract?fromPage=online&aid=8825856&fileId=S0263574712000276
Deposited by: Memoria Investigacion
Deposited on: 14 Jul 2014 17:59
Last Modified: 11 May 2020 08:04
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM