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

研究成果: Conference contribution

37 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 2005 IEEE International Conference on Robotics and Automation
ページ2921-2926
ページ数6
DOI
出版ステータスPublished - 2005 12 1
イベント2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
継続期間: 2005 4 182005 4 22

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2005
ISSN(印刷版)1050-4729

Other

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

ASJC Scopus subject areas

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

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