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The research of tension optimal estimation and stair-climbing ability of transformation wheelchair robot
Teng Y(滕赟); Wang T(王挺); Yao C(姚辰); Li XF(李小凡)
Department机器人学研究室
Conference Name29th Chinese Control Conference, CCC'10
Conference DateJuly 29-31, 2010
Conference PlaceBeijing, China
Author of SourceIEEE Control Systems Society (CSS); The ICROS OF Korea; IEEE CSS Singapore Chapter; IEEE CSS Hong Kong Chapter; IEEE CSS Beijing Chapter
Source PublicationProceedings of the 29th Chinese Control Conference, CCC'10
PublisherIEEE Computer Society
Publication PlacePiscataway, NJ
2010
Pages3716-3721
Indexed ByEI ; CPCI(ISTP)
EI Accession number20105113504229
WOS IDWOS:000397331303164
Contribution Rank1
ISBN978-7-89463-104-6
KeywordAlgorithms Decision Making Fuzzy Logic Least Squares Approximations Optimization Robots Stairs Wheelchairs
AbstractTo 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.
Language英语
Citation statistics
Cited Times:5[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8916
Collection机器人学研究室
Affiliation1.Graduate School of the Chinese Academy of Sciences, Beijing 100049, China
2.State Key Robotics Lab., Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
Recommended Citation
GB/T 7714
Teng Y,Wang T,Yao C,et al. The research of tension optimal estimation and stair-climbing ability of transformation wheelchair robot[C]//IEEE Control Systems Society (CSS); The ICROS OF Korea; IEEE CSS Singapore Chapter; IEEE CSS Hong Kong Chapter; IEEE CSS Beijing Chapter. Piscataway, NJ:IEEE Computer Society,2010:3716-3721.
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