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Dynamic control of a reconfigurable stair-climbing mobility system

Published online by Cambridge University Press:  24 May 2012

R. Morales ,
J. Somolinos  and
J. Cerrada
R. Morales
Affiliation:
Department of Electrical, Electronics and Automation Engineering, University of Castilla-La Mancha, Albacete 02071, Spain
J. Somolinos*
Affiliation:
Department of Oceanic Systems, Universidad Politécnica de Madrid, Madrid 28040, Spain
J. Cerrada
Affiliation:
Department of Computer Systems and Software Engineering, Universidad Nacional de Educación a Distancia (UNED), Madrid 28040, Spain
*
*Corresponding author. E-mail: joseandres.somolinos@upm.es
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Summary

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.

Keywords

Electric-powered wheelchairsStair-climbing devicesDynamic modelingDynamic controlMechatronics
Type
Articles
Information
Robotica , Volume 31 , Issue 2 , March 2013 , pp. 295 - 310
Copyright
Copyright © Cambridge University Press 2012

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