NDLI: Motion Control of Passive-type Walking Support System based on Environment Information

Content Provider	IEEE Xplore Digital Library
Author	Hirata, Y. Hara, A. Kosuge, K.
Copyright Year	2005
Description	Author affiliation: Department of Bioengineering and Robotics Tohoku University 6-6-01, Aoba, Aramaki, Aoba-ku, Sendai 980-8579, JAPAN; PRESTO, Japan Science and Technology Agency (JST); hirata@irs.mech.tohoku.ac.jp (Hirata, Y.)
Abstract	In this paper, we propose a motion control algorithm of a passive-type walking support system based on environment information. The passive-type walking support system we developed consists of a support frame, two casters, and two wheels with servo brakes. This system has a passive dynamics with respect to the force/moment applied to it, because it does not have any actuators for driving it, so that this system is intrinsically safe for using it based on the physical interaction between the system and the human being. In this research, we control the motion of the passive walker by adjusting the brake torque of each wheel based on the environment information, so that a user could avoid the collision with obstacles, prevent missing his/her step, and compensate the gravity of the system as if the user could use it safely on any roads such as the road with steep sloop. The proposed control algorithms are applied to passive-type walker referred to as RT Walker experimentally, and we show that RT Walker can be utilized successfully in environments such as the stairs, obstacles, and slops.
Starting Page	2921
Ending Page	2926
File Size	399032
Page Count	6
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570557
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion control Legged locomotion Wheels Servomechanisms Actuators Humans Torque control Control systems Road accidents Gravity Environment-adaptive Motion Control Passive-type Walking Support System RT Walker
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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