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

Volume: 21, Issue: 5, Pages: 604 - 621
Published: May 1, 2013
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...
Paper Details
Title
Obstacle surpassing and posture control of a stair-climbing robotic mechanism
Published Date
May 1, 2013
Volume
21
Issue
5
Pages
604 - 621
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