Motion control of passive intelligent walker using servo brakes
Motion control of passive intelligent walker using servo brakes
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DOI：
10.1109/tro.2007.906252
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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：
Hirata, Yasuhisa;Hara, Asami;Kosuge, Kazuhiro
我们提出了一种基于被动机器人的新型智能助行器，用于帮助老年人、残疾人和有行走困难的盲人。我们开发了机器人技术步行者（RT Walker）的原型，这是一种使用伺服制动器的被动智能步行者。RT Walker由一个支撑框架，两个脚轮，两个配有伺服制动器的轮子组成，并且它具有被动动力学，可以根据施加的力/力矩而变化。这个系统对人类来说本质上是安全的，因为它不会无意识地移动，也就是说，它没有驱动执行器。此外，RT Walker通过适当控制基于RT的伺服制动器的扭矩，提供了许多导航特性，包括良好的机动性。我们提出了一种人类自适应运动控制算法，该算法改变表观动力学以适应用户的困难，以及一种环境自适应运动控制算法，该算法结合环境信息提供障碍物/台阶回避和重力补偿功能。将所提出的控制算法应用于RT步行者的实验中，以验证其有效性。
We propose a new intelligent walker based on passive robotics that assists the elderly, handicapped people, and the blind who have difficulty in walking. We developed a prototype of the Robot Technology Walker (RT Walker), a passive intelligent walker that uses servo brakes. The RT Walker consists of a support frame, two casters, two wheels equipped with servo brakes, and it has passive dynamics that change with respect to applied force/moment. This system is intrinsically safe for humans, as it cannot move unintentionally, i.e., it has no driving actuators. In addition, the RT Walker provides a number of navigational features, including good maneuverability, by appropriately controlling the torque of servo brakes based on RT. We propose a human adaptive motion control algorithm that changes the apparent dynamics to adapt to user difficulties, and an environmentally adaptive motion control algorithm, which incorporates environmental information to provide obstacle/step avoidance and gravity compensation functions. The proposed control algorithms are experimentally applied to the RT Walker to test their validity.