Posture balancing control of smart mobile walker for uneven terrain

This paper introduces a posture control of smart mobile walker, where the controller adjusts four linear actuators based on the measurement of orientation and ground forces to balance manipulator and to keep wheel contact with ground. It is an important feature for this walker to adapt its pose to uneven terrains such as ramp or slope since it aims to assist elderly and disabled safely. Control scheme is based on PID impedance control where sensor noise and wind-up due to low actuator performance are considered. Hardware implementation and its experimental result are presented.