The research of tension optimal estimation and stair-climbing ability of transformation wheelchair robot

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	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)
	2010
会议名称	29th Chinese Control Conference, CCC'10
会议日期	July 29-31, 2010
会议地点	Beijing, China
关键词	Algorithms Decision making Fuzzy logic Least squares approximations Optimization Robots Stairs Wheelchairs
页码	3716-3721
中文摘要	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.
收录类别	EI
产权排序	1
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
语种	英语
ISBN号	978-7-89463-104-6
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8916]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 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]. 见:29th Chinese Control Conference, CCC'10. Beijing, China. July 29-31, 2010.