Obstacle surpassing and posture control of a stair-climbing robotic mechanism

Published on May 1, 2013in Control Engineering Practice3.475
· DOI :10.1016/J.CONENGPRAC.2013.01.006
Rafael Morales18
Estimated H-index: 18
(UCLM: University of Castilla–La Mancha),
J. Chocoteco4
Estimated H-index: 4
(UCLM: University of Castilla–La Mancha)
+ 1 AuthorsHebertt Sira-Ramírez62
Estimated H-index: 62
(CINVESTAV)
Sources
Abstract
Abstract In this study, we propose a new kinematic control for a robotic stair-climbing mechanism which allows successful obstacle surpassing when faced with typical architectural barriers such as curbs, ramps or staircases while maintaining the passenger's comfort and the seat's inclination within security margins. The scheme also takes into account perturbations in the system due to the fact that the environment is not perfectly known. The actuated degrees of freedom in charge of the locomotion device and the posture device are controlled in a different way. The locomotion control is achieved with a feedforward term and a standard proportional derivative (PD) control position. The posture control is obtained with a novel variant of multilevel feedback controller design via a suitable combination of a Lyapunov feedback controller design along with a multilevel generalization of the sliding mode based Sigma–Delta ( Σ – Δ ) modulator coupled with an adequate selection of the trajectory of the center of mass. The main features of this novel kinematic control algorithm are: maintenance of the passenger comfort, high degree of perturbation rejection regarding modeling error, independence of the designed control law on the environment parameters, computational efficiency and minimal sensor requirements. Numerical simulations illustrate the performance of the proposed method when the prototype is to surpass an obstacle with different heights with the value of the height obstacle being unknown. Finally, experimental results validate the behavior of the prototype for, both, obstacle surpassing and posture control when the wheelchair prototype ascends a curb of 180 mm.
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References24
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This paper describes the mechanical devices, the control scheme and the trajectory generation of which a new wheelchair prototype capable of climbing staircases is formed. The key feature of the mechanical design is the use of two decoupled mechanisms in each axle, one to negotiate steps, and the other to position the axle with regard to the chair in order to accommodate the overall slope. This design simplifies the control task substantially. Kinematic models are necessary to describe the behav...
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A switched implementation of average dynamic output feedback laws trough a Σ-∆-modulator, widely known in the classic communications and analog signal encoding literature, not only frees the sliding mode control approach from state measurements and the corresponding synthesis of sliding surfaces in the plant’s state space, but it also allows to effectively transfer all desired closed loop features of an uniformly bounded, continuous, average output feedback controller design into the more restri...
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Self-generated mobility via locomotion is a key for the cognitive, social and motor development of young infants. For certain children with special needs, self-generated mobility is only attained via assistive technology such as a power wheelchair. Up until recently, infants under 24 months of age were not considered candidates for training in power mobility. Recent work in our labs and others suggest that younger infants can utilize their reaching and grasping ability to learn power mobility. T...
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This paper describes the mechanical devices conforming a novel wheelchair prototype capable of climbing staircases. The key feature of the mechanical design is the use of two decoupled mechanisms in each axle, one to negotiate steps, and the other to position the axle with respect to the chair to accommodate the overall slope. This design simplifies the control task substantially. Kinematic models are necessary to describe the behavior of the system and to control the actuated degrees of freedom...
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Purpose – This paper aims to present a new stair‐climbing wheelchair that tries to solve adaptability problems of previous prototypes.Design/methodology/approach – A new prototype has been built using a new strategy. The climbing process is splint into two subproblems: climbing a single step and positioning the wheels on the staircase.Findings – An optimized solution has been found for each subproblem, due to this the presented prototype is able to climb any staircase built according to standard...
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This paper describes the mechanical devices, the movements and the associated kinematic models of a novel wheelchair prototype capable of climbing staircases. The key feature of the mechanical design is the use of two decoupled mechanisms in each axle, one used to negotiate steps, and the other to position the axle with respect to the chair to accommodate the overall slope. This decoupling makes possible many different climbing strategies, the overall mechanism being extraordinarily versatile fr...
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The purpose of this review is to convey the depth and breadth of the research conducted on electric-powered wheelchair (EPW) control technology as well as provide insights into future directions. We review the concepts and previous work on velocity control, traction control, suspension control, stability control, stair-climbing wheelchairs, and wheelchair navigation. The information gathered in this study is intended to promote awareness of the status of contemporary powered wheelchair control t...
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