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dc.contributor.authorSong, Kai-Taien_US
dc.contributor.authorLin, Chen-Yangen_US
dc.date.accessioned2014-12-08T15:21:41Z-
dc.date.available2014-12-08T15:21:41Z-
dc.date.issued2009en_US
dc.identifier.isbn978-1-4244-3803-7en_US
dc.identifier.urihttp://hdl.handle.net/11536/15411-
dc.identifier.urihttp://dx.doi.org/10.1109/IROS.2009.5354293en_US
dc.description.abstractThis paper presents a novel compliant motion controller design for an omni-directional mobile robot. In this design, an external force observer is developed based on measuring motor current and speed without using an expensive force/torque sensor. The mobile robot has a handrail to assist the elderly to walk safely and stably. In this application, adaptive motion compliance is required in accordance with the applied force of the user. Practical experimental results show that the compliance of the walking helper can be adjusted by setting dynamic coefficients of the overall dynamical system. It was demonstrated that the external force observer successfully detected the pushing as well as pulling force of a user on the handrail. The velocity of the omni-directional walking helper is adjusted according to the inferred motion intent.en_US
dc.language.isoen_USen_US
dc.titleA New Compliant Motion Control Design of a Walking-Help Robot Based on Motor Current and Speed Measurementen_US
dc.typeArticleen_US
dc.identifier.doi10.1109/IROS.2009.5354293en_US
dc.identifier.journal2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMSen_US
dc.citation.spage4493en_US
dc.citation.epage4498en_US
dc.contributor.department電子工程學系及電子研究所zh_TW
dc.contributor.departmentDepartment of Electronics Engineering and Institute of Electronicsen_US
dc.identifier.wosnumberWOS:000285372902109-
Appears in Collections:Conferences Paper


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