Motion control of passive-type walking support system based on environment information

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37 Citations (Scopus)

Abstract

In this paper, we propose a motion control algorithm of a passive-type walking support system based on environment information. The passive-type walking support system we developed consists of a support frame, two casters, and two wheels with servo brakes. This system has a passive dynamics with respect to the force/moment applied to it, because it does not have any actuators for driving it, so that this system is intrinsically safe for using it based on the physical interaction between the system and the human being. In this research, we control the motion of the passive walker by adjusting the brake torque of each wheel based on the environment information, so that a user could avoid the collision with obstacles, prevent missing his/her step, and compensate the gravity of the system as if the user could use it safely on any roads such as the road with steep sloop. The proposed control algorithms are applied to passive-type walker referred to as RT Walker experimentally, and we show that RT Walker can be utilized successfully in environments such as the stairs, obstacles, and slops.

Original languageEnglish
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages2921-2926
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: 2005 Apr 182005 Apr 22

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Other

Other2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period05/4/1805/4/22

Keywords

  • Environment-adaptive motion control
  • Passive-type walking support system
  • RT walker

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Hirata, Y., Hara, A., & Kosuge, K. (2005). Motion control of passive-type walking support system based on environment information. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 2921-2926). [1570557] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570557