標題: Walk-Assist Robot: A Novel Approach to Gain Selection of a Braking Controller Using Differential Flatness
作者: Ko, Chun-Hsu
Young, Kuu-Young
Huang, Yi-Che
Agrawal, Sunil K.
電機工程學系
Department of Electrical and Computer Engineering
關鍵字: Differential flatness;guidance;passive control;trajectory planning;walk-assist robot
公開日期: 1-十一月-2013
摘要: With increasing populations of the elderly in our society, robot technology will play an important role in providing functional mobility to humans. From the perspective of human safety, it is desirable that controllers for walk-assist robots be dissipative, i.e., the energy is supplied from the human to the walker, while the controller modulates this energy. The simplest form of a dissipating controller is a brake, where resistive torques are applied to the wheels proportional to their speeds. The fundamental question that we ask in this brief is how to modulate these proportional gains over time for the two wheels so that the walker can perform point-to-point motions. The unique contribution of this brief is a novel way in which the theory of differential flatness is used to plan the trajectory of these braking gains. Since the user input forces are not known a priori, the trajectory of the braking gain is computed iteratively during the motion. Simulation and experimental results show that the walk-assist robot, along with the structure of this proposed control scheme, can guide the user to reach the goal.
URI: http://dx.doi.org/10.1109/TCST.2012.2232668
http://hdl.handle.net/11536/22950
ISSN: 1063-6536
DOI: 10.1109/TCST.2012.2232668
期刊: IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Volume: 21
Issue: 6
起始頁: 2299
結束頁: 2305
顯示於類別:期刊論文


文件中的檔案:

  1. 000326105800024.pdf