Control architecture for a novel Leg-Based Stair-Climbing Wheelchair

Based on a recently proposed leg-based stairclimbing wheelchair, this work presents the control architecture for this mechanism. The objective of this work is to propose a step by step control methodology, which can define the positions of the wheels to climb up/down stairs. This will simplify the control of the seventeen actuators involved in climbing up and down tasks. The strategy proposed in this work makes the system robust to sensor uncertainties and small errors in the mechanical parameters, making the structure safer. This control architecture facilitates the practical implementation of the kinematic control. In addition, this strategy is also useful to optimize the configuration of the mechanism.