Force-cooperative guidance design of an omni-directional walking assistive robot

Kai-Tai Song*, Sin Yi Jiang

*Corresponding author for this work

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

8 Scopus citations

Abstract

This paper presents a novel force-cooperative guidance controller design for a walking assistive robot such that it can guide an elderly or handicapped person in an indoor environment. The guidance system has been implemented on a walking helper robot (Walbot) to allow the robot to incorporate passive behaviors. A handrail was provided for Walbot to facilitate passive walking assistance using an omni-directional mobile platform. A laser scanner is used for environment detection and obstacle avoidance. A mass/damper model regulates robot velocity with respect to applied external force. In this paper, we propose a method to fuse output from the compliant motion controller and the autonomous navigation controller in order to give the robotic walker a safe and passive walking guidance. Force-cooperative guidance is achieved by giving proper output-fusing weights to each controller such that the walking help robot can follow the motion intent of the user while avoiding obstacles appearing in the environment.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Pages1258-1263
Number of pages6
DOIs
StatePublished - 17 Nov 2011
Event2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 - Beijing, China
Duration: 7 Aug 201110 Aug 2011

Publication series

Name2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

Conference

Conference2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
CountryChina
CityBeijing
Period7/08/1110/08/11

Keywords

  • autonomous navigation
  • compliant motion control
  • force-cooperative guidance
  • walking assistive robot

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  • Cite this

    Song, K-T., & Jiang, S. Y. (2011). Force-cooperative guidance design of an omni-directional walking assistive robot. In 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 (pp. 1258-1263). [5985842] (2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011). https://doi.org/10.1109/ICMA.2011.5985842