DocumentCode :
2380988
Title :
Motion control of omni-directional type walking support system "Walking Helper"
Author :
Hirata, Yasuhisa ; Baba, Takahiro ; Kosuge, Kazuhiro
Author_Institution :
Dept. of Bioengineering & Robotics, Tohoku Univ., Japan
fYear :
2003
fDate :
31 Oct.-2 Nov. 2003
Firstpage :
85
Lastpage :
90
Abstract :
In this paper, we develop a prototype of an intelligent walking support system referred to as walking helper and propose a motion control algorithm for it. Walking Helper consists of an omni-directional mobile base, a body force sensor, a support frame and a cover around the mobile base. By using the omni-directional mobile base and body force sensor, the good maneuverability and the high safety of walking helper are realized. In addition, we propose a motion control algorithm referred to as adaptive caster action to utilize walking helper effectively in an environment such as a home, an office, a hospital, etc. The proposed control algorithm is experimentally applied to the developed walking helper, and the validity of the proposed control algorithm is illustrated by the experimental results.
Keywords :
force sensors; handicapped aids; intelligent robots; mobile robots; motion control; adaptive caster action; body force sensor; intelligent walking support system; maneuverability; motion control; omni-directional mobile base; walking helper; Adaptive control; Force sensors; Hospitals; Intelligent sensors; Intelligent systems; Legged locomotion; Motion control; Programmable control; Prototypes; Safety;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robot and Human Interactive Communication, 2003. Proceedings. ROMAN 2003. The 12th IEEE International Workshop on
Print_ISBN :
0-7803-8136-X
Type :
conf
DOI :
10.1109/ROMAN.2003.1251806
Filename :
1251806
Link To Document :
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