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Dynamic control of a reconfigurable stair-climbing mobility system
Citation
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 |
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| Author/s: |
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| 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 |
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 |
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| DC Identifier: | https://oa.upm.es/29148/ |
| OAI Identifier: | oai:oa.upm.es:29148 |
| DOI: | 10.1017/S0263574712000276 |
| Official URL: | http://journals.cambridge.org/action/displayAbstra... |
| Deposited by: | Memoria Investigacion |
| Deposited on: | 14 Jul 2014 17:59 |
| Last Modified: | 11 May 2020 08:04 |
