Guidance and obstacle avoidance of passive robot walking helper based on receding horizon control

Chun Hsu Ko, Yi Hung Hsieh, Yao Tse Chang, Sunil K. Agrawal, Kuu-Young Young*

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

3 Scopus citations

Abstract

Along with the coming of the aging society, the passive robot walking helper is introduced for providing safe mobility for the elderly, which features continuous energy dissipation from the system with brakes for steering. When this passive walking helper is applied for guidance and obstacle avoidance, it is crucial to determine proper braking torques in accordance with user-applied force for avoiding the obstacles and reaching the desired location. Motivated by it, in this paper, we propose such an approach based on receding horizon control. The proposed approach is efficient in braking torque derivation and allows the walking helper to stop at the goal with parking control. With the desired location to reach, the proposed scheme first plans a smooth path for the walking helper to follow based on Dubins curve [13]. The process of torque derivation is then formulated into solving an optimization problem with constraints that guarantee system passivity. When the walking helper detects the obstacles, the obstacle avoiding strategy is activated to bring it to deviate from them, which is achieved by including the constraints for obstacle avoidance into the optimization process. Simulations and experiments are performed to demonstrate the effectiveness of the proposed approach.

Original languageEnglish
Article number6899453
Pages (from-to)1032-1037
Number of pages6
JournalIEEE International Conference on Automation Science and Engineering
Volume2014-January
DOIs
StatePublished - 1 Jan 2014
Event2014 IEEE International Conference on Automation Science and Engineering, CASE 2014 - Taipei, Taiwan
Duration: 18 Aug 201422 Aug 2014

Keywords

  • Obstacle avoidance
  • Passive guidance
  • Receding horizon control
  • Robot walking helper

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