DocumentCode :
651079
Title :
A study on methods for improving the straightness of the intelligent walker to move on slope
Author :
Won-Young Lee ; Seung-Hyun Lee ; Mun-Suck Jang ; Eung-Hyuk Lee
Author_Institution :
Dept. of Electron. Eng., Korea Polytech. Univ., Ansan, South Korea
fYear :
2013
fDate :
Oct. 30 2013-Nov. 2 2013
Firstpage :
536
Lastpage :
541
Abstract :
This paper suggests linearity enhancement algorithm for slope driving of Intelligent Walker. Intelligent Walker happens to get off track due to external forces from robot´s weight and the degree of the slope while slope driving. In order to compensate this, this research used the controller that estimates the external forces according to the slope of road surface and adjusts it to the motor output. Also, through comparisons between targeted rotational angular velocity which the user inputs and its velocity of the robot, algorithm was applied which applies a weight to each shaft. As a result of applying the proposed correction controller to Intelligent Walker, it diverges in case of non-compensation experiments that deviates when moving, but it case of applying the ramp calibration algorithm, the deviation distance at max was within 5cm that it keeps safe driving, and change rate of deviation distance was also stabilized after 1m where no more changes occurred.
Keywords :
assisted living; force control; geriatrics; handicapped aids; human-robot interaction; mobile robots; motion compensation; motion control; deviation distance; elderly people; external force estimation; intelligent walker; linearity enhancement algorithm; motion compensator; noncompensation experiments; ramp calibration algorithm; robot weight; slope degree; slope driving; straightness improvement; Intelligent Walker; Motion Compensator; Slope; Straightness;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on
Conference_Location :
Jeju
Print_ISBN :
978-1-4799-1195-0
Type :
conf
DOI :
10.1109/URAI.2013.6677332
Filename :
6677332
Link To Document :
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