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Table 1 Main specifications of the P-WA MK-II

From: Stair-climbing gait for a four-wheeled vehicle

Body dimensions

Length: 1.1 m; width: 0.7 m (not including the footrest)

Wheel

Radius: 0.125 m; width: 0.07 m

Weight

92 kg (including the battery)

Motor

200 W (wheels); 150 W (front/rear rolling); 100 W (others)

Gear ratio

100 (wheels); 960 (front/rear rolling); 3855 (pitching); 2800 (front/rear steering); 15 + 10/30[mm]-lead ball screw (lateral/longitudinal slider)

Main sensors

Posture angle sensor (roll and pitch of the seat); photoelectric sensor (12, 3 per wheel)

Angle limit

± 27\(^\circ\) (pitch axis); ± 35\(^\circ\) (steering and roll axis)

Slider limit

± 0.3 m (left/right); 0.45 to − 0.15 m (forward/backward)

Max speed

7.4 km/h (catalog value)

Power supply

48 V (lithium polymer battery)