DocumentCode
2545442
Title
Application of “human-in-the-loop” control to a biped walking-chair robot
Author
Tang, Jiaoyan ; Zhao, Qunfei ; Huang, Jie
Author_Institution
Univ. of Shanghai Jiao tong, Shanghai
fYear
2007
fDate
7-10 Oct. 2007
Firstpage
2431
Lastpage
2436
Abstract
This paper presents the research on stability for biped walking-chair robot with human-in-the-loop. The inherent properties of the biped system which is developed for the disable people to replace traditional wheelchairs are analyzed. Control of the robot for the gait and navigation is introduced. Posture stability computation method based on ZMP (zero moment point) theory is discussed. Some suggestions about the future research are also presented.
Keywords
handicapped aids; legged locomotion; medical robotics; path planning; stability; biped walking-chair robot stability; disable people; human-in-the-loop control; posture stability computation method; robot gait; robot navigation; zero moment point theory; Control systems; Feedback; Foot; Humans; Legged locomotion; Mobile robots; Navigation; Robot sensing systems; Robotics and automation; Stability; biped robot; human-in-the-loop; stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 2007. ISIC. IEEE International Conference on
Conference_Location
Montreal, Que.
Print_ISBN
978-1-4244-0990-7
Electronic_ISBN
978-1-4244-0991-4
Type
conf
DOI
10.1109/ICSMC.2007.4413944
Filename
4413944
Link To Document