Obstacle avoidance for passive robot walking helper based on receding horizon control

Yi Hung Hsieh, Chun Hsu Ko, Kuu-Young Young*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

With the arrival of aging society, the passive robot walking helper is introduced to provide safe mobility for the elders, which features continuous energy dissipation from the system and is thus intrinsically safe. As both static and moving obstacles may be present in daily activities, obstacle avoidance during guidance is very imperative for its practical use, which motivates us to propose such a scheme based on receding horizon control. With a desired goal to reach, the proposed scheme first plans a smooth path for the walking helper to follow. A novel strategy, combined with receding horizon control, is then proposed to avoid the incoming obstacles detected by the equipped sensing system. Experiments based on our developed passive robot walking helper, i-Go, are conducted in real environments to demonstrate the effectiveness of the proposed scheme.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages550-555
Number of pages6
ISBN (Electronic)9781509018970
DOIs
StatePublished - 6 Feb 2017
Event2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Budapest, Hungary
Duration: 9 Oct 201612 Oct 2016

Publication series

Name2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings

Conference

Conference2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016
CountryHungary
CityBudapest
Period9/10/1612/10/16

Keywords

  • Motion guidance
  • Obstacle avoidance
  • Passive robot walking helper
  • Receding horizon control

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