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 - 2008/12/1
Y1 - 2008/12/1
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
T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 273
EP - 278
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Y2 - 22 September 2008 through 26 September 2008
ER -