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

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

    研究成果: Conference contribution

    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
    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 72011 8 10

    Other

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

    ASJC Scopus subject areas

    • 人工知能
    • 電子工学および電気工学
    • 機械工学

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