Proceedings of the 2018 3rd International Conference on Control, Automation and Artificial Intelligence (CAAI 2018)

Multi-Sensor Fusion of the Foreleg Mechanism for Wheelchair Climbing-Stairs

Authors
Dongxing Cao, Weixiang Di, Qiang Wang, Minfei Li
Corresponding Author
Dongxing Cao
Available Online August 2018.
DOI
https://doi.org/10.2991/caai-18.2018.15How to use a DOI?
Keywords
foreleg; multi-sensors; wheelchair climbing-stair
Abstract

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.

Copyright
© 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/).

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Volume Title
Proceedings of the 2018 3rd International Conference on Control, Automation and Artificial Intelligence (CAAI 2018)
Series
Atlantis Highlights in Intelligent Systems
Publication Date
August 2018
ISBN
978-94-6252-595-5
ISSN
2589-4919
DOI
https://doi.org/10.2991/caai-18.2018.15How to use a DOI?
Copyright
© 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  -