Motion control of omni-directional type cane robot based on human intention

Jian Huang; Pei Di; Toshio Fukuda; Takayuki Matsuno

doi:10.1109/IROS.2008.4650936

Motion control of omni-directional type cane robot based on human intention

Jian Huang, Pei Di, Toshio Fukuda, Takayuki Matsuno

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

40 Citations (Scopus)

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	https://doi.org/10.1109/IROS.2008.4650936
Publication status	Published - Dec 1 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

Publication series

Name	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Country/Territory	France
City	Nice
Period	9/22/08 → 9/26/08

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/IROS.2008.4650936

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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 (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Huang, J, Di, P, Fukuda, T & Matsuno, T 2008, Motion control of omni-directional type cane robot based on human intention. in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 4650936, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, pp. 273-278, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Nice, France, 9/22/08. https://doi.org/10.1109/IROS.2008.4650936

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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.",

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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.

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Motion control of omni-directional type cane robot based on human intention

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