Title :
Actualization of safe and stable stair climbing and three-dimensional locomotion for wheelchair
Author :
Yuan, Jianjun ; Hirose, Shigeo
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Japan
Abstract :
Leg-wheel hybrid mobile vehicle has been regarded as the best combination and many of them have been presented recently because of the high terrain adaptability of legged walking robots on rough ground and the high mobility of wheeled mobile vehicles on flat terrain. We discuss the detailed actualization of safe and stable stair climbing and three-dimensional locomotion for wheelchair - with mainly indoor or ordered terrain environments - in mechanism sensor system and control method based on the developed leg-wheel hybrid mobile vehicle Zero Carrier I in this paper.
Keywords :
handicapped aids; legged locomotion; Zero Carrier; leg-wheel hybrid; stable stair climbing; three-dimensional locomotion; wheelchair; wheeled mobile vehicles; Aerospace engineering; Crawlers; Land vehicles; Legged locomotion; Mobile robots; Road vehicles; Stability; Tires; Wheelchairs; Wheels; Zero Carrier; leg-wheel hybrid; mobile vehicle; stair climbing; three-dimensional;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545335
