Development of Intelligent Walker based on Passive Robotics Concept
Development of Intelligent Walker based on Passive Robotics Concept
复制标题
基于被动机器人概念的智能助行器开发
DOI：
10.7210/jrsj.24.270
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
K. Kosuge
中科院分区：
文献类型：
--
作者：
Y. Hirata;A. Hara;K. Kosuge
在本文中，我们提出了一个被动机器人的概念，这是支持人类身体的方法之一。基于被动式机器人技术，我们开发了一种新型的智能步行者，简称RT步行者，用于支持老年人，盲人或残疾人有困难的步行。RT步行者由支撑框架、轮子、伺服制动器和控制器组成。RT步行者具有相对于施加到其上的力/力矩的被动动力学和简单的结构，因为它没有一些伺服电机。然而，RT步行者的几个功能可以通过基于机器人技术（RT）适当地控制每个伺服制动器的制动扭矩来实现。在本文中，特别是，我们提出的RT步行者的运动控制算法，改变其明显的动态，以适应用户的困难，并根据环境的信息移动。本文提出的控制算法在RT步行者中得到了实际实现，实验结果验证了RT步行者及其运动控制算法的有效性。
In this paper, we propose a concept of Passive Robotics which is one of the approaches for supporting humans physically. Based on the passive robotics, we develop a new intelligent walker referred to as RT Walker for supporting elderly people, blind people, or handicapped people who have difficulties in walking. RT Walker consists of a support frame, wheels, servo brakes, and controllers. RT Walker has a passive dynamics with respect to a force/moment applied to it and a simple structure, because it does not have some servo motors. However, several functions for RT Walker could be realized by controlling the brake torque of each servo brake appropriately based on Robot Technologies (RT) . In this paper, especially, we propose motion control algorithms of RT Walker for changing its apparent dynamics to adapt to difficulties of the user, and for moving based on the information of an environment. The proposed control algorithms are implemented in RT Walker actually, and the experimental results illustrate the validity of RT Walker and its motion control algorithms.