Motion control of omni-directional type walking support system "Walking Helper"

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

46 Citations (Scopus)

Abstract

In this paper, we develop a prototype of an intelligent walking support system referred to as Walking Helper and propose a motion control algorithm for it. Walking Helper consists of an omni-directional mobile base, a Body Force Sensor, a support frame and a cover around the mobile base. By using the omnidirectional mobile base and Body Force Sensor, the good maneuverability and the high safety of Walking Helper are realized. In addition, we propose a motion control algorithm referred to as Adaptive Caster Action to utilize Walking Helper effectively in an environment such as a home, an office, a hospital, etc. The proposed control algorithm is experimentally applied to the developed Walking Helper, and the validity of the proposed control algorithm is illustrated by the experimental results.

Original languageEnglish
Title of host publicationProceedings - RO-MAN 2003
Subtitle of host publicationThe 12th IEEE International Workshop on Robot and Human Interactive Communication
Pages85-90
Number of pages6
DOIs
Publication statusPublished - 2003 Dec 1
Event12th IEEE International Workshop on Robot and Human Interactive Communication, RO-MAN 2003 - Millbrae, CA, United States
Duration: 2003 Oct 312003 Nov 2

Publication series

NameProceedings - IEEE International Workshop on Robot and Human Interactive Communication

Other

Other12th IEEE International Workshop on Robot and Human Interactive Communication, RO-MAN 2003
CountryUnited States
CityMillbrae, CA
Period03/10/3103/11/2

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Human-Computer Interaction

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