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- Publisher Website: 10.1109/IROS.2005.1545331
- Scopus: eid_2-s2.0-34250647611
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Conference Paper: A human adaptive path tracking method for omnidirectional passive walking aid system
Title | A human adaptive path tracking method for omnidirectional passive walking aid system |
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Authors | |
Keywords | Artificial potential field Path tracking Walking aid Passive robotics |
Issue Date | 2005 |
Citation | 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2005, p. 1145-1150 How to Cite? |
Abstract | This work presents a new path tracking method for a passive-type omnidirectional walking aid system, called Omni RT Walker-II (ORTW-II). ORTW-II is the second version of a walking aid system with an omnidirectional platform and uses MR brakes for its control. A new interpretation of paths, called potential canal is conducted in this paper in order to realize tracking via merely control of brakes of the passive system. Unlike most tracking methods which attempt to lead an objective system on a desired trajectory, in the new algorithm, a mobile system's motion is constrained in a pathway rather than a single trajectory and motion can be conducted by the user. In systems with direct human interaction similar to walking aid systems, the new method is expected to increase userdependability of the system's behavior while increasing user's freedom. A collision-free potential canal is maintained using a realtime modification method, based on environmental information. Experimental results are included to evaluate the accuracy and quality of tracking. © 2005 IEEE. |
Persistent Identifier | http://hdl.handle.net/10722/302783 |
DC Field | Value | Language |
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dc.contributor.author | Nejatbakhsh, Naemeh | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.date.accessioned | 2021-09-07T08:42:34Z | - |
dc.date.available | 2021-09-07T08:42:34Z | - |
dc.date.issued | 2005 | - |
dc.identifier.citation | 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2005, p. 1145-1150 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302783 | - |
dc.description.abstract | This work presents a new path tracking method for a passive-type omnidirectional walking aid system, called Omni RT Walker-II (ORTW-II). ORTW-II is the second version of a walking aid system with an omnidirectional platform and uses MR brakes for its control. A new interpretation of paths, called potential canal is conducted in this paper in order to realize tracking via merely control of brakes of the passive system. Unlike most tracking methods which attempt to lead an objective system on a desired trajectory, in the new algorithm, a mobile system's motion is constrained in a pathway rather than a single trajectory and motion can be conducted by the user. In systems with direct human interaction similar to walking aid systems, the new method is expected to increase userdependability of the system's behavior while increasing user's freedom. A collision-free potential canal is maintained using a realtime modification method, based on environmental information. Experimental results are included to evaluate the accuracy and quality of tracking. © 2005 IEEE. | - |
dc.language | eng | - |
dc.relation.ispartof | 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS | - |
dc.subject | Artificial potential field | - |
dc.subject | Path tracking | - |
dc.subject | Walking aid | - |
dc.subject | Passive robotics | - |
dc.title | A human adaptive path tracking method for omnidirectional passive walking aid system | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/IROS.2005.1545331 | - |
dc.identifier.scopus | eid_2-s2.0-34250647611 | - |
dc.identifier.spage | 1145 | - |
dc.identifier.epage | 1150 | - |