Multi-Sensor Fusion of the Foreleg Mechanism for Wheelchair Climbing-Stairs
- https://doi.org/10.2991/caai-18.2018.15How to use a DOI?
- foreleg; multi-sensors; wheelchair climbing-stair
The foreleg mechanism plays an important role to carry out climbing stairs and crossing obstacles for wheelchair climbing-stairs. Multi-sensors are placed on different site of the foreleg mechanism, and their measurement values timely decide and control the foreleg position and posture change. The driver module includes multi-sensors, relay operation, and motor fuzzy control, and the control system module includes manual and automatic control. Multi-machine communication is realized to exchange data between the top computer and MCU. An effective multi-sensor fusion algorithm is proposed to describe the process of the foreleg motion. Error factors of influencing sensor measurement are analyzed, and the experimental result shows the effectiveness of the multi-sensors fusion algorithm.
- © 2018, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Dongxing Cao AU - Weixiang Di AU - Qiang Wang AU - Minfei Li PY - 2018/08 DA - 2018/08 TI - Multi-Sensor Fusion of the Foreleg Mechanism for Wheelchair Climbing-Stairs BT - Proceedings of the 2018 3rd International Conference on Control, Automation and Artificial Intelligence (CAAI 2018) PB - Atlantis Press SP - 66 EP - 70 SN - 2589-4919 UR - https://doi.org/10.2991/caai-18.2018.15 DO - https://doi.org/10.2991/caai-18.2018.15 ID - Cao2018/08 ER -