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In this paper, the design of the mechanism and the control system of a planetary wheeled stair-climbing wheelchair is introduced. The dynamic model of the planetary wheel clusters is established based on Lagrange equation, and the angle acceleration curves are studied with various given equivalent torques. Stability margin of the wheelchair is analyzed in(More)
Covert-tracking robot refers to the mobile robot that not only can follow a human objective, but at the same time can control itself to keep away from the human's visual field. This paper proposes a head orientation estimation method based on probability model, which can help the robot to implement its covert behaviors. First, the elliptical head contour is(More)
In this paper, a new multi-function powered wheelchair is introduced, in which the driven mechanics are two sets of hybrid planetary wheels, each of them are consisted of one powered wheel and two free wheels. This wheelchair can work in three modes: stair-climbing mode, powered wheelchair mode and manual mode. In stair-climbing mode, an assistant can(More)
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