Adaptive controller for omni-directional walker: Improvement of dynamic model

Renpeng Tan; Shuoyu Wang; Yinlai Jiang; Kenji Ishida; Tianyou Chai; Masakatsu G. Fujie

doi:10.1109/ICMA.2011.5985678

Adaptive controller for omni-directional walker: Improvement of dynamic model

Renpeng Tan^*, Shuoyu Wang, Yinlai Jiang, Kenji Ishida, Tianyou Chai, Masakatsu G. Fujie

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

28 Citations (Scopus)

Abstract

An omni-directional walker (ODW) is being developed for both walking rehabilitation and walking support for people with walking disabilities. The ODW cannot accurately follow a training path planned by a physical therapist for walking rehabilitation due to the center-of-gravity shifts and load changes caused by users. To address this issue, a new center-dynamic model of the ODW is derived considering center-of-gravity shifts and load changes. An adaptive control method is shown. Comparison with a dual-loop proportional-integral (PI) controller in simulations shows that the proposed method improves the path tracking accuracy.

Original language	English
Title of host publication	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Pages	325-330
Number of pages	6
DOIs	https://doi.org/10.1109/ICMA.2011.5985678
Publication status	Published - 2011
Event	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 - Beijing Duration: 2011 Aug 7 → 2011 Aug 10

Other

Other	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
City	Beijing
Period	11/8/7 → 11/8/10

Keywords

Dual-loop PI controller
dynamic model
Omni-directional walker

ASJC Scopus subject areas

Artificial Intelligence
Electrical and Electronic Engineering
Mechanical Engineering

Access to Document

10.1109/ICMA.2011.5985678

Cite this

Tan, R, Wang, S, Jiang, Y, Ishida, K, Chai, T & Fujie, MG 2011, Adaptive controller for omni-directional walker: Improvement of dynamic model. in 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011., 5985678, pp. 325-330, 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, Beijing, 11/8/7. https://doi.org/10.1109/ICMA.2011.5985678

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title = "Adaptive controller for omni-directional walker: Improvement of dynamic model",

abstract = "An omni-directional walker (ODW) is being developed for both walking rehabilitation and walking support for people with walking disabilities. The ODW cannot accurately follow a training path planned by a physical therapist for walking rehabilitation due to the center-of-gravity shifts and load changes caused by users. To address this issue, a new center-dynamic model of the ODW is derived considering center-of-gravity shifts and load changes. An adaptive control method is shown. Comparison with a dual-loop proportional-integral (PI) controller in simulations shows that the proposed method improves the path tracking accuracy.",

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AU - Fujie, Masakatsu G.

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AB - An omni-directional walker (ODW) is being developed for both walking rehabilitation and walking support for people with walking disabilities. The ODW cannot accurately follow a training path planned by a physical therapist for walking rehabilitation due to the center-of-gravity shifts and load changes caused by users. To address this issue, a new center-dynamic model of the ODW is derived considering center-of-gravity shifts and load changes. An adaptive control method is shown. Comparison with a dual-loop proportional-integral (PI) controller in simulations shows that the proposed method improves the path tracking accuracy.

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Adaptive controller for omni-directional walker: Improvement of dynamic model

Abstract

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Keywords

ASJC Scopus subject areas

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