Adaptive controller for omni-directional walker: Improvement of dynamic model

Author

Tan, Renpeng ; Wang, Shuoyu ; Jiang, Yinlai ; Ishida, Kenji ; Chai, Tianyou ; Fujie, Masakatsu G.

Author_Institution

Sch. of Syst. Eng., Kochi Univ. of Technol., Kochi, Japan

fYear

2011

fDate

7-10 Aug. 2011

Firstpage

325

Lastpage

330

Abstract

An omni-directional walker (ODW) is being developed for both walking rehabilitation and walking support for people with walking disabilities. The ODW cannot accurately follow a training path planned by a physical therapist for walking rehabilitation due to the center-of-gravity shifts and load changes caused by users. To address this issue, a new center-dynamic model of the ODW is derived considering center-of-gravity shifts and load changes. An adaptive control method is shown. Comparison with a dual-loop proportional-integral (PI) controller in simulations shows that the proposed method improves the path tracking accuracy.

Keywords

PI control; adaptive control; handicapped aids; path planning; adaptive controller; center-of-gravity shift; dual-loop proportional-integral controller; dynamic model; load change; omnidirectional walker; path tracking accuracy; training path planning; walking disability; walking rehabilitation; Adaptation models; Adaptive control; Gravity; Legged locomotion; Load modeling; Simulation; Wheels; Dual-loop PI controller; Omni-directional walker; dynamic model;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2011 International Conference on

Conference_Location

Beijing

ISSN

2152-7431

Print_ISBN

978-1-4244-8113-2

Type

conf

DOI

10.1109/ICMA.2011.5985678

Filename

5985678