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题名: The research of tension optimal estimation and stair-climbing ability of transformation wheelchair robot
作者: Teng Y(滕赟) ; Wang T(王挺) ; Yao C(姚辰) ; Li XF(李小凡)
作者部门: 机器人学研究室
会议名称: 29th Chinese Control Conference, CCC'10
会议日期: July 29-31, 2010
会议地点: Beijing, China
会议主办者: IEEE Control Systems Society (CSS); The ICROS OF Korea; IEEE CSS Singapore Chapter; IEEE CSS Hong Kong Chapter; IEEE CSS Beijing Chapter
会议录: Proceedings of the 29th Chinese Control Conference, CCC'10
会议录出版者: IEEE Computer Society
会议录出版地: Piscataway, NJ
出版日期: 2010
页码: 3716-3721
收录类别: EI
ISBN号: 9787894631046
关键词: Algorithms ; Decision making ; Fuzzy logic ; Least squares approximations ; Optimization ; Robots ; Stairs ; Wheelchairs
摘要: To meet the rapid increasing demand of the equipment assisting the disabled and the old, a novel style transmuting track wheelchair robot is developed. It has the characteristic that the track tension can be determined dynamically. Compared to traditional method that keeps track tension constantly, dynamically determining tension can reduce power consumption obviously. Based on the fact that modeling track tension is complex, a fuzzy logic decision making method is developed to estimate the proportion of various factors that have effect on track tension. Combining with least square method, we get track tension optimal estimation algorithm. Considering the low speed characteristic of the wheelchair as climbing stairs and the track tension got by estimation algorithm, the paper develops a statics model of the wheelchair for the starting stage of stair-climbing. Simulation results prove that the wheelchair can climb stairs stably when it takes advantage of tension estimation algorithm.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8916
Appears in Collections:机器人学研究室_会议论文

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