A human adaptive path tracking method for omnidirectional passive walking aid system

Naemeh Nejatbakhsh, Kazuhiro Kosuge

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
出版社IEEE Computer Society
ページ1145-1150
ページ数6
ISBN(印刷版)0780389123, 9780780389120
DOI
出版ステータスPublished - 2005

出版物シリーズ

名前2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 人間とコンピュータの相互作用
  • 制御およびシステム工学

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