A fuzzy-model-based gravity center adjustment and inclination control for stair-climbing wheelchair

Dongxiao Wang; Xueshan Gao; Xingguang Duan; Weimin Zhang; Qiang Huang; Yunhui Liu

doi:10.1109/WCICA.2012.6359100

A fuzzy-model-based gravity center adjustment and inclination control for stair-climbing wheelchair

Dongxiao Wang^*, Xueshan Gao, Xingguang Duan, Weimin Zhang, Qiang Huang, Yunhui Liu

^*Corresponding author for this work

Chinese University of Hong Kong

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

Balance control is a critical step to ensure tip-over stability for stair-climbing wheelchair. This paper presents a novel fuzzy method for adjusting the gravity center and controlling inclination of a stair-climbing wheelchair. The proposed fuzzy controller is designed based the kinematic relationship between the position of the gravity centre and the obliquity of the wheelchair in obstacle environments. It optimally compensates for changing of the gravity centre by adjusting obliquity of the wheelchair using a pair of actuators. To validate the proposed method, we have carried out simulations and experiments. The results demonstrate that the proposed method can efficiently compensate for changing of the gravity center to prevent the overturn.

Original language	English
Title of host publication	WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation
Pages	3764-3769
Number of pages	6
DOIs	https://doi.org/10.1109/WCICA.2012.6359100
Publication status	Published - 2012
Event	10th World Congress on Intelligent Control and Automation, WCICA 2012 - Beijing, China Duration: 6 Jul 2012 → 8 Jul 2012

Publication series

Name	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

Conference

Conference	10th World Congress on Intelligent Control and Automation, WCICA 2012
Country/Territory	China
City	Beijing
Period	6/07/12 → 8/07/12

Access to Document

10.1109/WCICA.2012.6359100

Cite this

Wang, D., Gao, X., Duan, X., Zhang, W., Huang, Q., & Liu, Y. (2012). A fuzzy-model-based gravity center adjustment and inclination control for stair-climbing wheelchair. In WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation (pp. 3764-3769). Article 6359100 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)). https://doi.org/10.1109/WCICA.2012.6359100

@inproceedings{57a60342ff434ded9968c9e4c0e493ef,

title = "A fuzzy-model-based gravity center adjustment and inclination control for stair-climbing wheelchair",

abstract = "Balance control is a critical step to ensure tip-over stability for stair-climbing wheelchair. This paper presents a novel fuzzy method for adjusting the gravity center and controlling inclination of a stair-climbing wheelchair. The proposed fuzzy controller is designed based the kinematic relationship between the position of the gravity centre and the obliquity of the wheelchair in obstacle environments. It optimally compensates for changing of the gravity centre by adjusting obliquity of the wheelchair using a pair of actuators. To validate the proposed method, we have carried out simulations and experiments. The results demonstrate that the proposed method can efficiently compensate for changing of the gravity center to prevent the overturn.",

author = "Dongxiao Wang and Xueshan Gao and Xingguang Duan and Weimin Zhang and Qiang Huang and Yunhui Liu",

year = "2012",

doi = "10.1109/WCICA.2012.6359100",

language = "English",

isbn = "9781467313988",

series = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",

pages = "3764--3769",

booktitle = "WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation",

note = "10th World Congress on Intelligent Control and Automation, WCICA 2012 ; Conference date: 06-07-2012 Through 08-07-2012",

}

Wang, D , Gao, X , Duan, X , Zhang, W , Huang, Q & Liu, Y 2012, A fuzzy-model-based gravity center adjustment and inclination control for stair-climbing wheelchair. in WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation., 6359100, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), pp. 3764-3769, 10th World Congress on Intelligent Control and Automation, WCICA 2012, Beijing, China, 6/07/12. https://doi.org/10.1109/WCICA.2012.6359100

A fuzzy-model-based gravity center adjustment and inclination control for stair-climbing wheelchair. / Wang, Dongxiao ; Gao, Xueshan ; Duan, Xingguang et al.
WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation. 2012. p. 3764-3769 6359100 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - A fuzzy-model-based gravity center adjustment and inclination control for stair-climbing wheelchair

AU - Wang, Dongxiao

AU - Gao, Xueshan

AU - Duan, Xingguang

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AU - Huang, Qiang

AU - Liu, Yunhui

PY - 2012

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N2 - Balance control is a critical step to ensure tip-over stability for stair-climbing wheelchair. This paper presents a novel fuzzy method for adjusting the gravity center and controlling inclination of a stair-climbing wheelchair. The proposed fuzzy controller is designed based the kinematic relationship between the position of the gravity centre and the obliquity of the wheelchair in obstacle environments. It optimally compensates for changing of the gravity centre by adjusting obliquity of the wheelchair using a pair of actuators. To validate the proposed method, we have carried out simulations and experiments. The results demonstrate that the proposed method can efficiently compensate for changing of the gravity center to prevent the overturn.

AB - Balance control is a critical step to ensure tip-over stability for stair-climbing wheelchair. This paper presents a novel fuzzy method for adjusting the gravity center and controlling inclination of a stair-climbing wheelchair. The proposed fuzzy controller is designed based the kinematic relationship between the position of the gravity centre and the obliquity of the wheelchair in obstacle environments. It optimally compensates for changing of the gravity centre by adjusting obliquity of the wheelchair using a pair of actuators. To validate the proposed method, we have carried out simulations and experiments. The results demonstrate that the proposed method can efficiently compensate for changing of the gravity center to prevent the overturn.

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T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

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BT - WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation

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Wang D , Gao X , Duan X , Zhang W , Huang Q, Liu Y. A fuzzy-model-based gravity center adjustment and inclination control for stair-climbing wheelchair. In WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation. 2012. p. 3764-3769. 6359100. (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)). doi: 10.1109/WCICA.2012.6359100

A fuzzy-model-based gravity center adjustment and inclination control for stair-climbing wheelchair

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