Control architecture for a novel Leg-Based Stair-Climbing Wheelchair

Based on a recently proposed leg-based stairclimbing wheelchair, this work presents the control architecture for this mechanism. The objective of this work is to propose a step by step control methodology, which can define the positions of the wheels to climb up/down stairs. This will simplify the control of the seventeen actuators involved in climbing up and down tasks. The strategy proposed in this work makes the system robust to sensor...