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 引用 (Scopus)

    抜粋

    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.

    元の言語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
    出版物ステータス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
    Beijing
    期間11/8/711/8/10

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Electrical and Electronic Engineering
    • Mechanical Engineering

    フィンガープリント Adaptive controller for omni-directional walker: Improvement of dynamic model' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

  • これを引用

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