A Control Model for Following Target Inclination Angle in Lateral Direction for Omni-Directional Low-Floor Mobility
A Control Model for Following Target Inclination Angle in Lateral Direction for Omni-Directional Low-Floor Mobility
复制标题
全方位低地板移动横向跟随目标倾角控制模型
DOI：
10.1109/iecon48115.2021.9589749
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Hashimoto Hiroshi
中科院分区：
文献类型：
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作者：
Suzuki Mitsuhiro;Yokota Sho;Matsumoto Akihiro;Chugo Daisuke;Hashimoto Hiroshi
本研究的目的是开发一种全方位的低地板移动。移动的平台和界面已经开发。移动的平台的高度为从地面到登机表面37 mm。四个麦克纳姆轮实现全方位移动。这种移动性利用了用户的重心的摆动。为了操作这种移动性，用户自愿倾斜他们的身体。根据安装在该机动车的乘坐表面上的八个测力传感器的载荷分布信息来估计该车身倾斜度。这使得前后、横向和转向运动成为可能。然而，该移动性的运动是振荡的，因为该移动性的惯性导致输入到界面的非预期的人体运动。为了解决这一问题，本文不仅引入了倒立摆模型，而且引入了人体姿态控制模型。为了主动改变身体倾斜以操作这种移动性，人体姿势控制模型必须能够遵循任意目标倾斜角度，而不仅仅是直立状态。作者现在已经实现了前后移动。本文提出了一种横向跟踪目标倾角的控制模型。首先，介绍用于保持直立姿势的控制模型。其次，作者进行了身体姿势维持实验在侧向倾斜。基于该实验的结果，将模型确定为用于跟踪目标倾斜角的控制模型。
The purpose of this research is to develop an omnidirectional low-floor mobility. The mobile platform and the interface have already been developed. The height of the mobile platform is 37 mm from ground to the boarding surface. Omnidirectional movement is realized by using four mecanum wheels. This mobility utilizes sway of the center of gravity of the users. In order to operate this mobility, the users voluntarily tilt their bodies. This body inclination is estimated from the load distribution information of eight load cells installed on the boarding surface of this mobility. This enables forward-backward, lateral, and turning movements. However, the motion of this mobility is oscillatory, because inertia of this mobility causes unintended human body movements, which are input to the interface. In this research, in order to solve this problem, the authors introduce not only an inverted pendulum model but also a human postural control model. In order to change the body inclination voluntarily to operate this mobility, it is indispensable for a human postural control model to be able to follow an arbitrary target inclination angle, not just an upright state. The authors have now achieved forward-backward movement. In this paper, the authors propose a control model for following target inclination angle in lateral direction. First, a control model for maintaining an upright posture is introduced. Next, the authors conduct a body postural maintenance experiment in lateral inclination. A model is identified as a control model for following target inclination angle based on the result of this experiment.