Optimal Design of Cooperative Standing-Up Motion for Care Worker and Receiver

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper considers an optimal design problem of cooperative standing-up motion for the care worker and receiver. To overcome the disadvantage of the receding horizon control (model predictive control) strategy in the previous work in terms of the admissible horizon length and the extream sensitivity of the feasibility on the weights, we revisit the numerical methods to solve the nonlinear optimal control problem. Two algorithms, the differential dynamic programming and the sequential quadratic programming are used to solve the problem. Another technical point is the modeling of a composite motion consisting of two people. The issue on the dynamics of the closed-links system is investigated. The effectiveness of the proposed method is demonstrated by generating the motions corresponding to several scienarios.

Original languageEnglish
Title of host publicationProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages67-72
Number of pages6
ISBN (Electronic)9781538669594
DOIs
Publication statusPublished - May 24 2019
Event2019 IEEE International Conference on Mechatronics, ICM 2019 - Ilmenau, Germany
Duration: Mar 18 2019Mar 20 2019

Publication series

NameProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019

Conference

Conference2019 IEEE International Conference on Mechatronics, ICM 2019
CountryGermany
CityIlmenau
Period3/18/193/20/19

Keywords

  • assistive technology
  • electronic healthcare
  • nonlinear control systems
  • optimal control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Automotive Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Industrial and Manufacturing Engineering

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  • Cite this

    Kobayashi, K., Hirata, K., Nakamura, Y., & Okano, K. (2019). Optimal Design of Cooperative Standing-Up Motion for Care Worker and Receiver. In Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019 (pp. 67-72). [8722927] (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2019.8722927