Path Tracking Control Considering Center of Gravity Shift and Load Change for an Omni-directional Walker
Walking is a vital exercise that is very important for health and everyday life. In the authors’ previous studies, an omni-directional walker was developed for walking rehabilitation. Walking training programs are stored in the walker so that rehabilitation can be carried out without a physical therapist. However, the walker sometimes strays from the predefined path due to a center of gravity shift and load change. It is necessary for the walker to precisely follow the paths defined in the walking training programs to guarantee the effectiveness of rehabilitation and the user’s safety. Therefore, this paper describes the path tracking control of the omnidirectional walker during the center of gravity shift and load change. First, the kinetics of the omni-directional walker motion is presented. Second, an adaptive control strategy is proposed. Finally, path tracking simulations are carried out using the proposed method. The simulation results demonstrate the feasibility and effectiveness of the adaptive control method.
Omni-directional walker Load change Adaptive control Center of gravity shift Path tracking
Renpeng Tan Kenji Ishida Shuoyu Wang Yinlai Jiang
Department of Intelligent Mechanical Systems Engineering Kochi University of Technology Tosayamada,K Department of Physical Medicine and Rehabilitation Kochi University 2-5-1 Akebono-cho,Kochi 780-8520 Department of Intelligent Mechanical Systems Engineering Kochi University of Technology Tosayamada,K
国际会议
2010 IEEE信息与自动化国际会议(ICIA 2010)
哈尔滨
英文
1-4
2010-06-20（万方平台首次上网日期，不代表论文的发表时间）