PurposeThe purpose of this paper is to present the mechanical design and stability analysis of a new stair‐climbing robotic wheelchair.Design/methodology/approachA prototype stair‐climbing robotic wheelchair is constructed comprising a pair of rotational multi‐limbed structures pivotally mounted on opposite sides of a support base. The short arm, long arm, and triangular support structures within each rotational multi‐limbed structure rotate under the actuating effects of epicyclical gear trains.FindingsThe robotic wheelchair ascends and descends stairs in a statically stable manner and has an efficient planar navigation capability.Research limitations/implicationsIn its current state of development, the robotic wheelchair is controlled and powered remotely via umbilical cords rather than an onboard processor and power supply.Practical implicationsThe robotic wheelchair provides an effective solution for enhancing the mobility of the elderly and disabled.Originality/valueThe rotational multi‐limbed mechanisms are developed to ensure the stability of the sitting base at all stages of the stair navigation maneuver without the need for additional servo‐mechanism. The proposed robotic wheelchair shows the simplification of the associated operation process.
This paper presents a biologically inspired architecture for rapid real-time control of autonomous or semi-autonomous vehicles based on a neural model of the escape response of the American cockroach, Periplaneta americana. The architecture fuses exteroceptive and proprioceptive inputs in a manner similar to the insect to produce commands for collision avoidance and, in some cases, orientation for target strike. It functions as a reflexive subsystem that integrates smoothly with higher-level planning and behavioral control systems. The performance of the reflex is demonstrated in simulation and in hardware experiments on both air and ground vehicles, even in the presence of noisy, false or disruptive sensor data.
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