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

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

doi:10.1109/ICMA.2011.5985678

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

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

^*この研究の対応する著者

研究成果

28 被引用数 (Scopus)

抄録

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.

本文言語	English
ホスト出版物のタイトル	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
ページ	325-330
ページ数	6
DOI	https://doi.org/10.1109/ICMA.2011.5985678
出版ステータス	Published - 2011
イベント	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 - Beijing 継続期間: 2011 8 7 → 2011 8 10

Other

Other	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
City	Beijing
Period	11/8/7 → 11/8/10

ASJC Scopus subject areas

人工知能
電子工学および電気工学
機械工学

文献へのアクセス

10.1109/ICMA.2011.5985678

他のファイルとリンク

引用スタイル

Tan, R, Wang, S, Jiang, Y, Ishida, K, Chai, T & Fujie, MG 2011, Adaptive controller for omni-directional walker: Improvement of dynamic model. in 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011., 5985678, pp. 325-330, 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, Beijing, 11/8/7. https://doi.org/10.1109/ICMA.2011.5985678

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title = "Adaptive controller for omni-directional walker: Improvement of dynamic model",

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.",

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AU - Tan, Renpeng

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AU - Ishida, Kenji

AU - Chai, Tianyou

AU - Fujie, Masakatsu G.

PY - 2011

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N2 - 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.

AB - 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.

KW - Dual-loop PI controller

KW - dynamic model

KW - Omni-directional walker

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BT - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

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

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