Adaptive controller for omni-directional walker: Improvement of dynamic model

Renpeng Tan, Shuoyu Wang, Yinlai Jiang, Kenji Ishida, Tianyou Chai, Masakatsu G. Fujie

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

    28 Citations (Scopus)

    Abstract

    An omni-directional walker (ODW) is being developed for both walking rehabilitation and walking support for people with walking disabilities. The ODW cannot accurately follow a training path planned by a physical therapist for walking rehabilitation due to the center-of-gravity shifts and load changes caused by users. To address this issue, a new center-dynamic model of the ODW is derived considering center-of-gravity shifts and load changes. An adaptive control method is shown. Comparison with a dual-loop proportional-integral (PI) controller in simulations shows that the proposed method improves the path tracking accuracy.

    Original languageEnglish
    Title of host publication2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
    Pages325-330
    Number of pages6
    DOIs
    Publication statusPublished - 2011
    Event2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 - Beijing
    Duration: 2011 Aug 72011 Aug 10

    Other

    Other2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
    CityBeijing
    Period11/8/711/8/10

    Keywords

    • Dual-loop PI controller
    • dynamic model
    • Omni-directional walker

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Electrical and Electronic Engineering
    • Mechanical Engineering

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  • Cite this

    Tan, R., Wang, S., Jiang, Y., Ishida, K., Chai, T., & Fujie, M. G. (2011). Adaptive controller for omni-directional walker: Improvement of dynamic model. In 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 (pp. 325-330). [5985678] https://doi.org/10.1109/ICMA.2011.5985678