TY - GEN
T1 - A human adaptive path tracking method for omnidirectional passive walking aid system
AU - Nejatbakhsh, Naemeh
AU - Kosuge, Kazuhiro
PY - 2005
Y1 - 2005
N2 - This work presents a new path tracking method for a passive-type omnidirectional walking aid system, called Omni RT Walker-II (ORTW-II). ORTW-II is the second version of a walking aid system with an omnidirectional platform and uses MR brakes for its control. A new interpretation of paths, called potential canal is conducted in this paper in order to realize tracking via merely control of brakes of the passive system. Unlike most tracking methods which attempt to lead an objective system on a desired trajectory, in the new algorithm, a mobile system's motion is constrained in a pathway rather than a single trajectory and motion can be conducted by the user. In systems with direct human interaction similar to walking aid systems, the new method is expected to increase userdependability of the system's behavior while increasing user's freedom. A collision-free potential canal is maintained using a realtime modification method, based on environmental information. Experimental results are included to evaluate the accuracy and quality of tracking.
AB - This work presents a new path tracking method for a passive-type omnidirectional walking aid system, called Omni RT Walker-II (ORTW-II). ORTW-II is the second version of a walking aid system with an omnidirectional platform and uses MR brakes for its control. A new interpretation of paths, called potential canal is conducted in this paper in order to realize tracking via merely control of brakes of the passive system. Unlike most tracking methods which attempt to lead an objective system on a desired trajectory, in the new algorithm, a mobile system's motion is constrained in a pathway rather than a single trajectory and motion can be conducted by the user. In systems with direct human interaction similar to walking aid systems, the new method is expected to increase userdependability of the system's behavior while increasing user's freedom. A collision-free potential canal is maintained using a realtime modification method, based on environmental information. Experimental results are included to evaluate the accuracy and quality of tracking.
KW - Artificial potential field
KW - Passive robotics
KW - Path tracking
KW - Walking aid
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U2 - 10.1109/IROS.2005.1545331
DO - 10.1109/IROS.2005.1545331
M3 - Conference contribution
AN - SCOPUS:34250647611
SN - 0780389123
SN - 9780780389120
T3 - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 1145
EP - 1150
BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PB - IEEE Computer Society
ER -