Motion control of passive-type intelligent walker based on caster-like dynamics

The goal of this research is to develop an intelligent walker which is the passive-type walker referred to as RT Walker. In this paper, especially, we propose a motion control algorithm referred to as adaptive caster action to utilize RT Walker with good maneuverability in an environment such as a home, an office, a hospital, etc. The proposed control algorithm is experimentally applied to RT Walker, and the validity of the proposed control algorithm is illustrated by the experimental results.