Environment feedback for robotic walking support system control

Oscar Chuy; Yasuhisa Hirata; Kazuhiro Kosuge

doi:10.1109/ROBOT.2007.364035

Environment feedback for robotic walking support system control

Oscar Chuy, Yasuhisa Hirata, Kazuhiro Kosuge

ENG - Robotics

Tohoku University

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

7 Citations (Scopus)

Abstract

This paper proposes a control approach for an active robotic walking support system based on environment feedback. The support system is controlled using imposed apparent dynamics and its parameters are varied by the environment information. The environment information will not cause any motion but will only change the characteristics or maneuverability of the support system. This approach leads to a passive behavior for an active walking support system. In addition, the stability of the support system based on the apparent dynamics is also discussed. This is important as a guideline on what parameters to vary that will not cause instability to the system. Experimental results are presented to show the validity of the control algorithm with environment feedback.

Original language	English
Title of host publication	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages	3633-3638
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2007.364035
Publication status	Published - 2007
Event	2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy Duration: 2007 Apr 10 → 2007 Apr 14

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/Territory	Italy
City	Rome
Period	07/4/10 → 07/4/14

Access to Document

10.1109/ROBOT.2007.364035

Cite this

@inproceedings{94932ead5a034189b30ef5e317c350d5,

title = "Environment feedback for robotic walking support system control",

abstract = "This paper proposes a control approach for an active robotic walking support system based on environment feedback. The support system is controlled using imposed apparent dynamics and its parameters are varied by the environment information. The environment information will not cause any motion but will only change the characteristics or maneuverability of the support system. This approach leads to a passive behavior for an active walking support system. In addition, the stability of the support system based on the apparent dynamics is also discussed. This is important as a guideline on what parameters to vary that will not cause instability to the system. Experimental results are presented to show the validity of the control algorithm with environment feedback.",

author = "Oscar Chuy and Yasuhisa Hirata and Kazuhiro Kosuge",

year = "2007",

doi = "10.1109/ROBOT.2007.364035",

language = "English",

isbn = "1424406021",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "3633--3638",

booktitle = "2007 IEEE International Conference on Robotics and Automation, ICRA'07",

note = "2007 IEEE International Conference on Robotics and Automation, ICRA'07 ; Conference date: 10-04-2007 Through 14-04-2007",

}

Chuy, O, Hirata, Y & Kosuge, K 2007, Environment feedback for robotic walking support system control. in 2007 IEEE International Conference on Robotics and Automation, ICRA'07., 4209653, Proceedings - IEEE International Conference on Robotics and Automation, pp. 3633-3638, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 07/4/10. https://doi.org/10.1109/ROBOT.2007.364035

Environment feedback for robotic walking support system control. / Chuy, Oscar; Hirata, Yasuhisa; Kosuge, Kazuhiro.
2007 IEEE International Conference on Robotics and Automation, ICRA'07. 2007. p. 3633-3638 4209653 (Proceedings - IEEE International Conference on Robotics and Automation).

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

TY - GEN

T1 - Environment feedback for robotic walking support system control

AU - Chuy, Oscar

AU - Hirata, Yasuhisa

AU - Kosuge, Kazuhiro

PY - 2007

Y1 - 2007

N2 - This paper proposes a control approach for an active robotic walking support system based on environment feedback. The support system is controlled using imposed apparent dynamics and its parameters are varied by the environment information. The environment information will not cause any motion but will only change the characteristics or maneuverability of the support system. This approach leads to a passive behavior for an active walking support system. In addition, the stability of the support system based on the apparent dynamics is also discussed. This is important as a guideline on what parameters to vary that will not cause instability to the system. Experimental results are presented to show the validity of the control algorithm with environment feedback.

AB - This paper proposes a control approach for an active robotic walking support system based on environment feedback. The support system is controlled using imposed apparent dynamics and its parameters are varied by the environment information. The environment information will not cause any motion but will only change the characteristics or maneuverability of the support system. This approach leads to a passive behavior for an active walking support system. In addition, the stability of the support system based on the apparent dynamics is also discussed. This is important as a guideline on what parameters to vary that will not cause instability to the system. Experimental results are presented to show the validity of the control algorithm with environment feedback.

UR - http://www.scopus.com/inward/record.url?scp=36348984562&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=36348984562&partnerID=8YFLogxK

U2 - 10.1109/ROBOT.2007.364035

DO - 10.1109/ROBOT.2007.364035

M3 - Conference contribution

AN - SCOPUS:36348984562

SN - 1424406021

SN - 9781424406029

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 3633

EP - 3638

BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07

T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07

Y2 - 10 April 2007 through 14 April 2007

ER -

Environment feedback for robotic walking support system control

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this