Title :
Application of “human-in-the-loop” control to a biped walking-chair robot
Author :
Tang, Jiaoyan ; Zhao, Qunfei ; Huang, Jie
Author_Institution :
Univ. of Shanghai Jiao tong, Shanghai
Abstract :
This paper presents the research on stability for biped walking-chair robot with human-in-the-loop. The inherent properties of the biped system which is developed for the disable people to replace traditional wheelchairs are analyzed. Control of the robot for the gait and navigation is introduced. Posture stability computation method based on ZMP (zero moment point) theory is discussed. Some suggestions about the future research are also presented.
Keywords :
handicapped aids; legged locomotion; medical robotics; path planning; stability; biped walking-chair robot stability; disable people; human-in-the-loop control; posture stability computation method; robot gait; robot navigation; zero moment point theory; Control systems; Feedback; Foot; Humans; Legged locomotion; Mobile robots; Navigation; Robot sensing systems; Robotics and automation; Stability; biped robot; human-in-the-loop; stability;
Conference_Titel :
Systems, Man and Cybernetics, 2007. ISIC. IEEE International Conference on
Conference_Location :
Montreal, Que.
Print_ISBN :
978-1-4244-0990-7
Electronic_ISBN :
978-1-4244-0991-4
DOI :
10.1109/ICSMC.2007.4413944
