A new compliant motion control design of a walking-help robot based on motor current and speed measurement

Kai-Tai Song*, Chen Yang Lin

*Corresponding author for this work

研究成果: Conference contribution同行評審

10 引文 斯高帕斯(Scopus)

摘要

This paper presents a novel compliant motion controller design for an omni-directional mobile robot. In this design, an external force observer is developed based on measuring motor current and speed without using an expensive force/torque sensor. The mobile robot has a handrail to assist the elderly to walk safely and stably. In this application, adaptive motion compliance is required in accordance with the applied force of the user. Practical experimental results show that the compliance of the walking helper can be adjusted by setting dynamic coefficients of the overall dynamical system. It was demonstrated that the external force observer successfully detected the pushing as well as pulling force of a user on the handrail. The velocity of the omni-directional walking helper is adjusted according to the inferred motion intent.

原文English
主出版物標題2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
頁面4493-4498
頁數6
DOIs
出版狀態Published - 11 十二月 2009
事件2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
持續時間: 11 十月 200915 十月 2009

出版系列

名字2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Conference

Conference2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
國家United States
城市St. Louis, MO
期間11/10/0915/10/09

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