Research on Obstacle-avoidance Control Algorithm of Rehabilitation Robot Combined with Neural Network

摘要：

This paper proposes an obstacle-avoidance algorithm which can be applied to omnidirectional Lower Limbs Rehabilitation Robot. The method generates the attribute of obstacle scene using detected angle information of obstacle boundary, and fuzzy matching with the obstacle scene knowledgebase to realize the obstacle-avoidance control of robot. The implementation of fuzzy matching depends on fuzzy neural network. The neural network enhances self learning ability, greatly simplifies data calculation. Obstacle avoidance algorithm makes the rehabilitation robot more safety for human using and reduces environmental using demand. This paper proves the feasibility and effectiveness of the obstacle-avoidance algorithm through theoretical derivation and simulation results.

关键词： omnidirectional Lower Limbs Rehabilitation Robot fuzzy matching neural network obstacle-avoidance control

作者: Wang Tong Cao Cheng Guo Hongche

作者单位: Shenyang University of Technology, Shenyang, 110870, China

会议类型: 国际会议

会议名称: 2010 International Conference on Measuring Technology and Mechatronics Automation(ICMTMA 2010)(2010年检测技术与机电自动化国际会议)

会议地点: 长沙

会议语种:英文

页码: 2382-2385

在线出版日期: 2010-03-13（万方平台首次上网日期，不代表论文的发表时间）