TY - JFULL AU - Chun-Ta Chen and Te-Tan Liao and Hoang-Vuong Pham PY - 2010/6/ TI - On Climbing Winding Stairs for a Robotic Wheelchair T2 - International Journal of Mechanical and Mechatronics Engineering SP - 403 EP - 409 VL - 4 SN - 1307-6892 UR - https://publications.waset.org/pdf/4096 PU - World Academy of Science, Engineering and Technology NX - Open Science Index 41, 2010 N2 - In this paper motion analysis on a winding stair-climbing is investigated using our proposed rotational arm type of robotic wheelchair. For now, the robotic wheelchair is operated in an open mode to climb winding stairs by a dynamic turning, therefore, the dynamics model is required to ensure a passenger-s safety. Equations of motion based on the skid-steering analysis are developed for the trajectory planning and motion analysis on climbing winding stairs. Since the robotic wheelchair must climb a winding staircase stably, the winding trajectory becomes a constraint equation to be followed, and the Baumgarte-s method is used to solve for the constrained dynamics equations. Experimental results validate the behavior of the prototype as it climbs a winding stair. ER -