標題: Walking Assist Design of a Dual-arm Robot
作者: Wu, Ching-Jui
Song, Kai-Tai
電控工程研究所
Institute of Electrical and Control Engineering
公開日期: 1-一月-2014
摘要: In this paper, a dual-arm mobile robot is designed and experimented to provide walking support to a user. The robot has two operation modes, which can be transformed according to the user\'s need. When the robot is in the grasping mode, the robot can fetch an object using computer vision and 6-DOF robot arms. When the user wants walking help, the robot can be configured to the supporting mode to provide walking assist. In the supporting mode, the robot arms are transformed to close and hold each other by the special designed buckle mechanism. A motion planning strategy is proposed to achieve arm-closing and buckle locking and unlocking. In this way, the robot arms are configured into a handrail for user support. Furthermore, a 6-DOF force/torque sensor is installed on the right robot arm to estimate the user\'s motion intent. The walking support system determines robot velocity based on a compliance controller to provide the walking assist. Several experiments validate the proposed design and demonstrate the dual-arm robot can provide user walking assist.
URI: http://hdl.handle.net/11536/124918
ISBN: 978-1-4799-2837-8
ISSN: 1948-3449
期刊: 11TH IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA)
起始頁: 273
結束頁: 278
顯示於類別:會議論文