Study on Interactional Characteristics of WT Wheelchair Robot with Stairs during Stair-Climbing Process

The characteristics of interaction between WT wheelchair robot and stair environments is analyzed and possible patterns of WT wheelchair robot during the stairs climbing are summarized, and then the criterion to determine the pattern of the wheelchair robot is proposed. STATEFLOW module in MATLAB is used to simulating the whole stair-climbing of WT wheelchair robot, and an entire analytical procedure about how to determine the pattern by using the simulation curves is given.