Active type robotic mobility aid control based on passive behavior

Oscar Chuy, Yasuhisa Hirata, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

This paper proposes a motion control algorithm for an active type of robotic mobility aid based on passive behavior concept. Passive behavior is an important characteristic of a system that provides mobility to elderly or person with walking disability. It allows the user to control the system based on intention. Passive behavior is implemented using imposed desired dynamics, which represents the actual behavior of passive system. This approach uses user intention represented by applied force/torque to derive the mobility aid desired motion. In addition, a guideline in parameter selection of the desired dynamics is also presented. This guideline is used to ensure the stability of the active robotic mobility aid with passive behavior. Experimental results are presented to show the validity of the proposed control method.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages165-170
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: 2007 Oct 292007 Nov 2

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Country/TerritoryUnited States
CitySan Diego, CA
Period07/10/2907/11/2

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint

Dive into the research topics of 'Active type robotic mobility aid control based on passive behavior'. Together they form a unique fingerprint.

Cite this