DocumentCode :
3094181
Title :
Motion control of omni-directional type cane robot based on human intention
Author :
Huang, Jian ; Di, Pei ; Fukuda, Toshio ; Matsuno, Takayuki
Author_Institution :
Dept. of Micro-Nano Syst. Eng., Nagoya Univ., Nagoya
fYear :
2008
fDate :
22-26 Sept. 2008
Firstpage :
273
Lastpage :
278
Abstract :
A three-wheeled omni-directional cane robot is designed for aiding the elderly walking. Possible move modes are analyzed and a corresponding hybrid model is constructed to describe walking behavior. A concept called intentional direction is presented to denote the moving intention of a human. Based on experiments and some assumptions, dynamic model of intentional direction is obtained as well as its online estimation method. A new admittance control scheme is presented based on intentional direction, which provides natural and intuitive human machine interface. Experiment results show the effectiveness of the design.
Keywords :
handicapped aids; human-robot interaction; mobile robots; motion control; service robots; admittance control scheme; elderly walking aid; human machine interface; motion control; three-wheeled omni-directional cane robot; Admittance; Humans; Kalman filters; Legged locomotion; Robot sensing systems; Robots; Turning;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
Type :
conf
DOI :
10.1109/IROS.2008.4650936
Filename :
4650936
Link To Document :
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