2013
DOI: 10.1016/j.aasri.2013.10.004
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PD-fuzzy Control of a Stair Climbing Wheelchair

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Cited by 6 publications
(4 citation statements)
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“…Also, Lopes et al [14] describe a proposed navigation system architecture, system mapping, and method of obstacle avoidance for the control of the electric wheelchair " Robchair. " In addition, several control methods used in mobile robotics [1,6,10] are applied in the field of controlling the electric wheelchair. A fuzzy controller was used for determining the robot motion to reach the target, to avoid obstacles, and to navigate.…”
Section: Introductionmentioning
confidence: 99%
“…Also, Lopes et al [14] describe a proposed navigation system architecture, system mapping, and method of obstacle avoidance for the control of the electric wheelchair " Robchair. " In addition, several control methods used in mobile robotics [1,6,10] are applied in the field of controlling the electric wheelchair. A fuzzy controller was used for determining the robot motion to reach the target, to avoid obstacles, and to navigate.…”
Section: Introductionmentioning
confidence: 99%
“…10 Several fuzzy-based control structures and methods were developed by Ghani et al to control a wheel clusterbased EPW-SC similar to the iBOT for stair climbing, with controls verified through simulations. [58][59][60][61][62][63] In addition, since the wheel cluster-based EPW-SC climbs one step at a time, the movement speed is constantly fluctuating, which results in the rider feeling uncomfortable. The complexity of its control is significantly higher than that of the track-based EPW-SC.…”
Section: Wheel Cluster-based Epw-scmentioning
confidence: 99%
“…The iBOT series EPW-SCs performed the feedback control to its COG position similar to the inverted pendulum control and laid a foundation of stable stair-climbing. 20,78 In the aspect of stability analysis and evaluation, Fang et al analyzed the stair-climbing stability of their wheel cluster-based EPW-SC and gave a simulation verification based on the usage of stability margin and the position analysis of the COG's projection point in the support polygon. 4 Yu et al proposed a tip over and slippage stability criterion for a variable geometry single-tracked EPW-SC based on the geometric model, the static model, and the track-stair interaction analysis, for partial tracked-based EPW-SCs.…”
Section: Cog Adjustment and Stability Evaluationmentioning
confidence: 99%
“…Wheelchairs with additional legs [4], some spoke wheels [5,6], step-climbing method by the dynamic control as the inverted pendulum [7,8], triangle frame with three wheels at the triangle vertices [9][10][11], and tracks on each side [12] have been proposed. The iBot wheelchair [13], which has the dynamic balancing functionality as an inverted pendulum, and Scaleve [14], which has additional tracks to climb over steps, have also been introduced.…”
Section: Introductionmentioning
confidence: 99%