標題: Shared Control Design of a Walking-Assistant Robot
作者: Jiang, Sin-Yi
Lin, Chen-Yang
Huang, Ko-Tung
Song, Kai-Tai
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: Assistive device;motion control;robot control;service robot;shared control.
公開日期: 1-Nov-2017
摘要: This brief presents a control design for a walking-assistant robot in a complex indoor environment, such that it can assist a walking-impaired person to walk and avoid unexpected obstacles. In this design, the robot motion is a resultant of autonomous navigation and compliant motion control. The compliance motion controller allows the robot to possess passive behavior following the motion intent of the user, while the autonomous guidance gives safe navigation of the robot without colliding with any obstacles. A shared-control approach is suggested to combine the passive compliant behavior and safe guidance of the robot. When a user exerts force to the robot, the mobile platform responds to adjust the speed in compliance with the user movement. On the other hand, the autonomous navigation controller is designed to provide collision free guidance. Using the developed shared controller, outputs of the compliance motion controller and autonomous navigation controller are fused to generate appropriate motion for the robot. In this manner, passive behavior allows the walking-assistant robot to adapt to a user's motion intent and move in compliance with user. Meanwhile, the active guidance adjusts the linear velocity and the direction of the robot in real time in response to the environmental data received from the on-board laser scanner. The developed algorithms have been implemented on a self-constructed walking-assistant robot. Experimental results validate the proposed design and demonstrate that the robot can actively avoid unexpected obstacles while move passively following the user to the destination.
URI: http://dx.doi.org/10.1109/TCST.2016.2638879
http://hdl.handle.net/11536/143941
ISSN: 1063-6536
DOI: 10.1109/TCST.2016.2638879
期刊: IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Volume: 25
起始頁: 2143
結束頁: 2150
Appears in Collections:Articles