Self-balancing iBOT-like wheelchair based on type-1 and interval type-2 fuzzy control

Panomruttanarug, Benjamas; Chotikunnan, Phichitphon

doi:10.1109/ecticon.2014.6839710

Cited by 10 publications

(10 citation statements)

References 8 publications

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“…Therefore, an in-depth analysis of stair-climbing mechanisms is provided for EPW-SC prototypes and commercial products. 20 (b) Three wheels on a wheel cluster. 21 (c) Four wheels on a wheel cluster.…”

Section: Development History and Classification Of Epw-scsmentioning

confidence: 99%

“…(a) Two wheels on a wheel cluster. 20 (b) Three wheels on a wheel cluster. 21 (c) Four wheels on a wheel cluster.…”

Section: Development History and Classification Of Epw-scsmentioning

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%

“…Wheel cluster mechanism. (a) Two wheels on a wheel cluster 20. (b) Three wheels on a wheel cluster 21.…”

mentioning

confidence: 99%

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Electric-powered wheelchair with stair-climbing ability

Tao

Liu

2017

International Journal of Advanced Robotic Systems

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As an autonomic and convenient assistance device for people with disabilities and the elderly climbing up and down stairs, electric-powered wheelchairs with stair-climbing ability have attracted great attention in the past two decades and some various electric-powered wheelchairs with stair-climbing were developed. By using the developed electric-powered wheelchairs with stair-climbing, many patients with walking difficulties are able to descend the stairs conveniently to participate in outdoor activities, which are beneficial to both their physical rehabilitation and mental health. In this article, a review of electric-powered wheelchair with stair-climbing current technology is given and its future tendency is discussed to inform electric-powered wheelchair with stair-climbing researchers in the development of more applicable and popular products. Firstly, the development history is reviewed and electric-powered wheelchairs with stair-climbing are classified based on an analysis of their stair-climbing mechanisms. The respective advantages and disadvantages of different types of electric-powered wheelchairs with stair-climbing are outlined for an overall comparison of the control method, cost of mechanical manufacture, energy consumption, and adaption to different stairs. Insights into the future direction of stability during stair-climbing are discussed as it is an important aspect common to all electric-powered wheelchairs with stairclimbing. Finally, a summary of electric-powered wheelchairs with stair-climbing discussed in this article is provided. As a special review to the electric-powered wheelchairs with stair-climbing, it can provide a comprehensive understanding of the current technology about electric-powered wheelchairs with stair-climbing and serve as a reference for the development of new electric-powered wheelchairs with stair-climbing.

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Section: Development History and Classification Of Epw-scsmentioning

confidence: 99%

“…(a) Two wheels on a wheel cluster. 20 (b) Three wheels on a wheel cluster. 21 (c) Four wheels on a wheel cluster.…”

Section: Development History and Classification Of Epw-scsmentioning

confidence: 99%

Section: Cog Adjustment and Stability Evaluationmentioning

confidence: 99%

“…Wheel cluster mechanism. (a) Two wheels on a wheel cluster 20. (b) Three wheels on a wheel cluster 21.…”

mentioning

confidence: 99%

See 2 more Smart Citations

Electric-powered wheelchair with stair-climbing ability

Tao

Liu

2017

International Journal of Advanced Robotic Systems

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“…Compared to other controllers, linear quadratic regulator (LQR) [27] as well as proportional integral derivative (PID) [28] were the most commonly adopted controllers in balancing two-wheeled wheelchairs with a transformation mechanism. Whereas, some have adopted the applications of intelligent control algorithms, like fuzzy logic and neural network, in achieving system's stability-fuzzy logic type-1 has often been the basic fuzzy logic system found within other published research [29], [30]. Fuzzy logic is well-suited for approximating the nonlinearities [31].…”

Section: Introductionmentioning

confidence: 99%

Lifting and stabilizing of two-wheeled wheelchair system using interval type-2 fuzzy logic control based spiral dynamic algorithm

2021

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The current study emphasizes on improving an interval type-2 fuzzy logic control (IT2FLC) system through the use of spiral dynamics algorithm (SDA) optimization in stabilizing a transformational two-wheeled wheelchair. The main contribution of this research is to reduce vibrations while performing the lifting and stabilization of a wheelchair from its standard four-wheeled to two-wheeled transformation. IT2FLC based SDA was used to enhance the system’s stability performance by obtaining the optimized value for input and output controller gains and IT2FLC parameters for IT2FLC. System modeling was done through development within the SimWise 4D software environment, which was then integrated with MATLAB/SIMULINK for control purposes. The proposed algorithm has demonstrated improved tilt angle performance with reduced noise and lower torque when various disturbances were applied, as compared to a system solely controlled by IT2FLC without any optimization. Moreover, the proposed algorithm has also comprehensively outperformed previous controllers in terms of system’s stability, further demonstrated its superiority as a system controller within transformational wheelchairs.

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Mechanical design and wheel–leg–body cooperation control of a step‐climbing robot

Liu

Zhang

et al. 2022

Journal of Field Robotics

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This paper proposes the mechanical design and wheel-leg-body cooperation control of a robot capable of climbing stairs for the RoboMaster competition. The robot is comprised of a robot body and four legs with wheels on each end. The front and hind legs composed of the linkages and sliders complete the climbing stairs motion under the coordination of the motors and the cylinders. The dynamic stair-climbing motion is realized by control the wheel speed and leg motion corresponding to the body motion of the robot relative to the stair environment. Compared with the common split stair climbing designed, the robot can dynamically climb the stairs without losing the forward speed, which makes climbing stairs more smoothly while retaining the ability to move on the flat. Experimental results demonstrate that the robot can climb stairs with a riser height up to 20 cm and a tread depth more than 80 cm. And the process of climbing each stair is reduced to 1-2 s.

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Self-balancing iBOT-like wheelchair based on type-1 and interval type-2 fuzzy control

Cited by 10 publications

References 8 publications

Electric-powered wheelchair with stair-climbing ability

Electric-powered wheelchair with stair-climbing ability

Lifting and stabilizing of two-wheeled wheelchair system using interval type-2 fuzzy logic control based spiral dynamic algorithm

Mechanical design and wheel–leg–body cooperation control of a step‐climbing robot

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