Recently, wheelchair is the best equipment to support physically handicapped people. But it cannot move on steps and stairs. So the equipment should be developed, which can carry a wheelchair with a person riding on stairs. In this research, to realize high movable efficiency, compactness and comfortable ride quality, the vehicle is suggested, which has active mechanism on its center to keep the payload horizontally, and couples of wheels on its 4 corners (total: 8 wheels). Then, to move on stairs safely, couple of wheels is analyzed. And the experimental equipment of this can move on stairs.
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