Passive omnidirectional walker - Design and control

Naemeh Nejatbakhsh, Yasuhisa Hirataj, Kazuhiro Kosuge

研究成果: Conference contribution

10 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
ページ518-523
ページ数6
DOI
出版ステータスPublished - 2005 12 1
イベント12th International Conference on Advanced Robotics, 2005. ICAR '05 - Seattle, WA, United States
継続期間: 2005 7 182005 7 20

出版物シリーズ

名前2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
2005

Other

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

ASJC Scopus subject areas

  • 工学(全般)

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