A control approach based on passive behavior to enhance-user interaction
A control approach based on passive behavior to enhance-user interaction
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DOI：
10.1109/tro.2007.907920
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发表时间：
2007-10-01
影响因子：
7.8
通讯作者：
Kosuge, Kazuhiro
中科院分区：
文献类型：
--
作者：
Chuy, Oscar Ylaya, Jr.;Hirata, Yasuhisa;Kosuge, Kazuhiro
本文提出了一种基于被动行为概念的主动（机动）机器人行走支撑系统控制方法。控制方法旨在增强支持系统与用户之间的交互。支持系统的被动行为允许用户安全地与系统交互，因为它消除了系统在没有用户意图时移动的能力。这种被动行为是通过施加的表观动力学来实现的，它使用由施加的力/扭矩表示的用户意图来推导系统的期望运动。为适应用户的控制特点，将控制方法扩展为面向用户的运动控制算法。这是通过改变表观动力学的应用点来实现的。将控制方法进一步扩展到利用环境信息，实现环境反馈概念。这是通过根据环境数据改变表观动力学参数来实现的。实验结果表明了所提控制方法的有效性。
This paper proposes a new control approach for an active (motorized) robotic walking support system based on passive behavior concept. The control approach aims to enhance the interaction between the support system and the user. The passive behavior of a support system allows the user to safely interact with the system since it removes the system's capability to move when there is no user's intention. This passive behavior is realized using imposed apparent dynamics, which uses the user's intention represented by the applied force/torque to derive the system's desired motion. The control approach is extended into a user-oriented motion control algorithm to adapt user's controlling characteristics. This is implemented by varying the point of application of the apparent dynamics. The control approach is further extended to use environment information and realize environment feedback concept. This is implemented by varying the parameters of the apparent dynamics based on environment data. Experimental results are presented to show the validity of the proposed control approach.