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• W4303943977 abstract "This work presents a method to find the optimal configuration of a leg-based stair-climbing wheelchair. This optimization begins with the definition of a high-level control architecture, in which the kinematics restrictions related to the specific obstacles are considered. Then, the reference trajectories for all the actuators are generated as a function of the physical parameters of the mechanism, the dynamic restrictions of the actuators (velocity and acceleration) and the sensor errors. This work illustrates, based on a set of configurations, how the total time to climb up and climb down a defined stair depends on all these parameters, also reporting the best set of parameters that reduces the time and makes the mechanism more stable for a given scenario. The optimization in this work is performed with a brute-force search within a grid of parameters with a resolution of 1 mm. Thus, as the local minima is located, the complexity of the problem is revealed." @default.
• W4303943977 created "2022-10-10" @default.
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• W4303943977 date "2022-10-09" @default.
• W4303943977 modified "2023-09-26" @default.
• W4303943977 title "Optimal Design of a Novel Leg-Based Stair-Climbing Wheelchair Based on the Kinematic Analysis of the Stair Climbing States" @default.
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• W4303943977 doi "https://doi.org/10.3390/act11100289" @default.
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