Passive omnidirectional walker - Design and control

Naemeh Nejatbakhsh, Yasuhisa Hirataj, Kazuhiro Kosuge

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

10 Citations (Scopus)

Abstract

An omnidirectional passive walking aid system called "Omni RT Walker" (Omnidirectional Robot-Technology Walker) is proposed in this paper. Omni RT Walker consists of an omnidirectional platform with servo brake system, an onboard control unit and a frame. The system is called passive since it excludes motion generating parts such as wheel actuators and translates by force applied by its user, but includes controllable units; servo brakes in our prototype. Variable Dynamics Control is the control scheme applied to Omni RT Walker in order to modify its dynamic characteristics according to user's walking ability. System identification is performed to evaluate and validate this control scheme.

Original languageEnglish
Title of host publication2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
Pages518-523
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
Event12th International Conference on Advanced Robotics, 2005. ICAR '05 - Seattle, WA, United States
Duration: 2005 Jul 182005 Jul 20

Publication series

Name2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
Volume2005

Other

Other12th International Conference on Advanced Robotics, 2005. ICAR '05
Country/TerritoryUnited States
CitySeattle, WA
Period05/7/1805/7/20

Keywords

  • Identification
  • Omnidirectional Walking Aid
  • Passive Robotics
  • Variable Dynamics Control

ASJC Scopus subject areas

  • Engineering(all)

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