DocumentCode
3483006
Title
Robot human-following limited speed control
Author
Jianzhao Cai ; Matsumaru, Taro
Author_Institution
South China Univ. of Technol., Guangzhou, China
fYear
2013
fDate
26-29 Aug. 2013
Firstpage
81
Lastpage
86
Abstract
Robot human-following is an important part of interaction between robot and people. Generally, speed of mobile robots is limited and far slower than human beings naturally walking speed. In order to catch the human rapidly, in this paper, we introduce a control method which uses adaptive acceleration of robots speed. The speed of robots mainly depends on the human speed and distance. Also the robots speed acceleration is adaptive to the distance between human and robots. The proposed control is successfully verified through experiments.
Keywords
acceleration control; adaptive control; mobile robots; velocity control; adaptive acceleration; human distance; mobile robots; robot human-following limited speed control; speed acceleration; Equations; Legged locomotion; Robot kinematics; Robot sensing systems; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
RO-MAN, 2013 IEEE
Conference_Location
Gyeongju
ISSN
1944-9445
Type
conf
DOI
10.1109/ROMAN.2013.6628443
Filename
6628443
Link To Document