Active Tension Control for WT Wheelchair Robot by Using a Novel Control Law for Holonomic or Nonholonomic Systems

Figure 14

Record of stair-climbing experiment for WT wheelchair robot.

(a) 𝑖=0, start

(b) 𝑖=0, pattern = IV

(c) 𝑖=1, pattern = I

(d) 𝑖=1, pattern = II

(e) 𝑖=1, pattern = III

(f) 𝑖=1, pattern = IV

(g) 𝑖=3, pattern = I

(h) 𝑖=3, pattern = III, finished

(i) Climb finished