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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Xiaojuan Wei Xiaodong Zhang Peng Yi |
| Copyright Year | 2012 |
| Description | Author affiliation: Department of State Key Laboratory of Robotics and System, Harbin Institute of Technology(HIT), Harbin, Heilongjiang Province 150080, China (Xiaojuan Wei) || Department of Suzhou Academy, Xi'an Jiaotong University, Suzhou, Jiangsu Province 215123, China (Peng Yi) || Department of Mechanical Engineering, Xi'an Jiaotong University Xi'an, Shaanxi Province 710049, China (Xiaodong Zhang) |
| 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. |
| Starting Page | 2083 |
| Ending Page | 2087 |
| File Size | 417662 |
| Page Count | 5 |
| File Format | |
| ISBN | 9781467312752 |
| e-ISBN | 9781467312783 |
| DOI | 10.1109/ICMA.2012.6285664 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2012-08-05 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Legged locomotion Control systems Niobium Brushless DC motors Robot sensing systems Adaptive control Elderly-assistant & Walking-assistant Robot Control system DSP Fuzzy adaptive |
| Content Type | Text |
| Resource Type | Article |
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