DocumentCode :
2194396
Title :
Optimum Design and Simulation of a Mobile Robot with Standing-up Devices to Assist Elderly People and Paraplegic Patients
Author :
Xiong, Guangming ; Gong, Jianwei ; Gao, Junyao ; Zhao, Tao ; Liu, Dongxue ; Chen, Xijun
Author_Institution :
Intell. Vehicle Res. Center, Beijing Inst. of Technol., Beijing
fYear :
2006
fDate :
17-20 Dec. 2006
Firstpage :
807
Lastpage :
812
Abstract :
An assistant robot with standing-up devices (ARSD) is developed to provide the functions of standing-up from chair and moving for elderly people and paraplegic patients. Virtual prototype technology is employed to make the design and development of the robot more efficient and reliable. And, the co-simulation design method is presented. In order to run a 3D simulation, the model of the robot is built by SolidWorks and is imported to ADAMS through ParaSolid pipe. A multi-objective genetic algorithm based on neural network response surface is used to find the Pareto-optimal solutions in the optimum design of ARSD. In order to find the required answer in the Pareto set, a multi-objective fuzzy decision method is presented also. Finally, the mode of human-robot interactive control is discussed.
Keywords :
Pareto optimisation; fuzzy set theory; genetic algorithms; handicapped aids; man-machine systems; mobile robots; service robots; 3D simulation; ParaSolid pipe; Pareto set; SolidWorks; assistant robot with standing-up devices; cosimulation design method; elderly people assistance; human-robot interactive control; mobile robot; multiobjective fuzzy decision method; multiobjective genetic algorithm; neural network response surface; paraplegic patients; Algorithm design and analysis; Design methodology; Fuzzy sets; Genetic algorithms; Mobile robots; Neural networks; Response surface methodology; Senior citizens; Solid modeling; Virtual prototyping; Assistant robot; human-robot interaction; optimum design; standing-up; virtual prototype;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on
Conference_Location :
Kunming
Print_ISBN :
1-4244-0570-X
Electronic_ISBN :
1-4244-0571-8
Type :
conf
DOI :
10.1109/ROBIO.2006.340317
Filename :
4141969
Link To Document :
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