Design of control system for elderly-assistant & walking-assistant robot based on fuzzy adaptive method

Author

Wei, Xiaojuan ; Zhang, Xiaodong ; Yi, Peng

Author_Institution

Dept. of State Key Lab. of Robot. & Syst., Harbin Inst. of Technol.(HIT), Harbin, China

fYear

2012

fDate

5-8 Aug. 2012

Firstpage

2083

Lastpage

2087

Abstract

Elderly-assistant & Walking-assistant robot is a kind of robot system which can be guided by intentions and driven by power. Its purpose is to provide physical support and walking assistance for the elderly to meet their needs of walking autonomy, friendliness, and security. Based on the requirements of the walking-assistant robot, the control system should be adapt to different road conditions and achieve high precision, so, a robot control system based on TMS320F2812 is designed in this paper, including its hardware and software design. Then, a moving control method including the Fuzzy adaptive control algorithm is presented for the walking-assistant robot to realize some different moving properties. At last, by the experimental verification in the walking-assistant robot, the research results show that the whole control system has a good feasibility and adaptability.

Keywords

adaptive control; fuzzy control; handicapped aids; medical robotics; mobile robots; TMS320F2812; control system design; elderly-assistant robot; fuzzy adaptive control algorithm; physical support; road condition; walking-assistant robot; Adaptive control; Brushless DC motors; Control systems; Legged locomotion; Niobium; Robot sensing systems; Control system; DSP; Elderly-assistant & Walking-assistant Robot; Fuzzy adaptive;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2012 International Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4673-1275-2

Type

conf

DOI

10.1109/ICMA.2012.6285664

Filename

6285664