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.
| Original language | English |
|---|---|
| Title of host publication | 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS |
| Pages | 273-278 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2008 |
| Externally published | Yes |
| Event | 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France Duration: Sep 22 2008 → Sep 26 2008 |
Other
| Other | 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS |
|---|---|
| Country | France |
| City | Nice |
| Period | 9/22/08 → 9/26/08 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
Motion control of omni-directional type cane robot based on human intention. / Huang, Jian; Di, Pei; Fukuda, Toshio; Matsuno, Takayuki.
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. p. 273-278 4650936.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Motion control of omni-directional type cane robot based on human intention
AU - Huang, Jian
AU - Di, Pei
AU - Fukuda, Toshio
AU - Matsuno, Takayuki
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=62449110789&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=62449110789&partnerID=8YFLogxK
U2 - 10.1109/IROS.2008.4650936
DO - 10.1109/IROS.2008.4650936
M3 - Conference contribution
AN - SCOPUS:62449110789
SN - 9781424420582
SP - 273
EP - 278
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ER -