Browsing by Author "Hsieh, Yi-Hung"

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Effective Maneuver for Passive Robot Walking Helper Based on User Intention
(2015-10-01)
Hsieh, Yi-Hung
;
Young, Kuu-Young
;
Ko, Chun-Hsu
;
電機工程學系
;
Department of Electrical and Computer Engineering
In response to an aging society, a robot walking helper has come up as a research focus. To be practical for use in daily lives for the elderly, it should be able to follow user intention during maneuver and provide motion assistance when demanded. As quite a number of guidance schemes have been proposed, the studies on maneuver are comparatively few. This paper thus proposes a maneuvering system for the passive type of robot walking helper based on user intention. The proposed system first recognizes motion intention from user-applied force and hip rotation, and then utilizes an assistive control strategy to generate proper braking torque for effective maneuver. Experiments in a real environment are conducted for demonstration.
Motion Guidance for a Passive Robot Walking Helper via User\'s Applied Hand Forces
(2016-12)
Hsieh, Yi-Hung
;
Huang, Yi-Che
;
Young, Kuu-Young
;
Ko, Chun-Hsu
;
Agrawal, Sunil K.
As the elderly population is rapidly growing in our society, robot walking helpers are receiving more attention these days. To be practical and safe for use in daily life, an important issue is whether these robot walking helpers can be effectively maneuvered and provide guidance to the users. These concerns become even more important for a passive robot walking helper, as it relies mainly on the user\'s applied forces to move. In this paper, we propose a motion guidance system for a passive robot walking helper. More specifically, we develop a system to identify user\'s intentions from applied grip forces. This system consists of a pair of force-sensing grips attached to the handles of the robot walking helper and a learning scheme for themapping between the measured grip forces and the driving force/torque imposed on the helper. The learning scheme, combined with an assistive strategy extended from our previous work, provides motion guidance to the elders during walking. The feasibility of the proposed system is demonstrated via a series of experiments involving motion assistance with i-Go, a passive robot walking helper developed in our laboratory.
Obstacle Avoidance for Passive Robot Walking Helper Based on Receding Horizon Control
(2016-01-01)
Hsieh, Yi-Hung
;
Ko, Chun-Hsu
;
Young, Kuu-Young
;
電機工程學系
;
Department of Electrical and Computer Engineering
With the arrival of aging society, the passive robot walking helper is introduced to provide safe mobility for the elders, which features continuous energy dissipation from the system and is thus intrinsically safe. As both static and moving obstacles may be present in daily activities, obstacle avoidance during guidance is very imperative for its practical use, which motivates us to propose such a scheme based on receding horizon control. With a desired goal to reach, the proposed scheme first plans a smooth path for the walking helper to follow. A novel strategy, combined with receding horizon control, is then proposed to avoid the incoming obstacles detected by the equipped sensing system. Experiments based on our developed passive robot walking helper, i-Go, are conducted in real environments to demonstrate the effectiveness of the proposed scheme.
Optimized Trajectory Planning for Mobile Robot in the Presence of Moving Obstacles
(2015)
Ko, Chun-Hsu
;
Young, Kuu-Young
;
Hsieh, Yi-Hung
;
電機學院
;
College of Electrical and Computer Engineering
Navigation and obstacle avoidance are essential for mobile robots. In the dynamic environment, the obstacles may move with varying velocities. It is thus crucial to develop an effective scheme for moving obstacle avoidance. Motivated by this, in this paper, we propose such a scheme based on parametric trajectory planning. With the conditions for collision avoidance formulated as the constraints, a feasible collision-free trajectory is then derived by solving an unconstrained optimization problem. The corresponding control torques for robot governing is calculated using the dynamic model and derived trajectory, with the information about the obstacle not known a priori. Simulations are performed to demonstrate the efficiency of the proposed approach.