Motion control of omni-directional type walking support system "Walking Helper"

Yasuhisa Hirata; Takahiro Baba; Kazuhiro Kosuge

doi:10.1109/ROMAN.2003.1251806

Motion control of omni-directional type walking support system "Walking Helper"

Yasuhisa Hirata, Takahiro Baba, Kazuhiro Kosuge

ENG - Robotics

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

39 Citations (Scopus)

Abstract

In this paper, we develop a prototype of an intelligent walking support system referred to as Walking Helper and propose a motion control algorithm for it. Walking Helper consists of an omni-directional mobile base, a Body Force Sensor, a support frame and a cover around the mobile base. By using the omnidirectional mobile base and Body Force Sensor, the good maneuverability and the high safety of Walking Helper are realized. In addition, we propose a motion control algorithm referred to as Adaptive Caster Action to utilize Walking Helper effectively in an environment such as a home, an office, a hospital, etc. The proposed control algorithm is experimentally applied to the developed Walking Helper, and the validity of the proposed control algorithm is illustrated by the experimental results.

Original language	English
Title of host publication	Proceedings - RO-MAN 2003
Subtitle of host publication	The 12th IEEE International Workshop on Robot and Human Interactive Communication
Pages	85-90
Number of pages	6
DOIs	https://doi.org/10.1109/ROMAN.2003.1251806
Publication status	Published - 2003 Dec 1
Event	12th IEEE International Workshop on Robot and Human Interactive Communication, RO-MAN 2003 - Millbrae, CA, United States Duration: 2003 Oct 31 → 2003 Nov 2

Publication series

Name	Proceedings - IEEE International Workshop on Robot and Human Interactive Communication

Other

Other	12th IEEE International Workshop on Robot and Human Interactive Communication, RO-MAN 2003
Country/Territory	United States
City	Millbrae, CA
Period	03/10/31 → 03/11/2

ASJC Scopus subject areas

Software
Artificial Intelligence
Human-Computer Interaction

Access to Document

10.1109/ROMAN.2003.1251806

Cite this

Hirata, Y., Baba, T., & Kosuge, K. (2003). Motion control of omni-directional type walking support system "Walking Helper". In Proceedings - RO-MAN 2003: The 12th IEEE International Workshop on Robot and Human Interactive Communication (pp. 85-90). [1251806] (Proceedings - IEEE International Workshop on Robot and Human Interactive Communication). https://doi.org/10.1109/ROMAN.2003.1251806

Motion control of omni-directional type walking support system "Walking Helper". / Hirata, Yasuhisa; Baba, Takahiro; Kosuge, Kazuhiro.
Proceedings - RO-MAN 2003: The 12th IEEE International Workshop on Robot and Human Interactive Communication. 2003. p. 85-90 1251806 (Proceedings - IEEE International Workshop on Robot and Human Interactive Communication).

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

Hirata, Y, Baba, T & Kosuge, K 2003, Motion control of omni-directional type walking support system "Walking Helper". in Proceedings - RO-MAN 2003: The 12th IEEE International Workshop on Robot and Human Interactive Communication., 1251806, Proceedings - IEEE International Workshop on Robot and Human Interactive Communication, pp. 85-90, 12th IEEE International Workshop on Robot and Human Interactive Communication, RO-MAN 2003, Millbrae, CA, United States, 03/10/31. https://doi.org/10.1109/ROMAN.2003.1251806

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Motion control of omni-directional type walking support system "Walking Helper"

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