Hierarchical Action Control Technique Based on Prediction Time for Autonomous Omni-Directional Mobile Robots

Takahashi, Masaki; Tada, Yoshimasa; Suzuki, Takafumi; Yoshi, Kazuo

doi:10.5772/8990

Cited by 1 publication

(1 citation statement)

References 3 publications

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“…Robots are expected to support the daily life of humans in homes, offices, hospitals, and welfare facilities (1)(2)(3) . Unlike industrial robots working in factories, human support robots work in a narrow, complex surrounding environment and need to contact with human beings (4,5) . Cushions are regularly used in a tatami room which is normal in Japan.…”

Section: Introductionmentioning

confidence: 99%

Motion Control of a Cushion Robot Considering Load Change and Center of Gravity Shift

Tan

Wang

Jiang

2012

JSDD

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A cushion robot with omnidirectional wheels is developed to support in-room movement of the elderly. Because the cushion robot works in a narrow, complex surrounding, it must accurately follow the target direction to avoid repetitively switching drives and to guarantee user safety. However, the user seated on the cushion robot causes a load change and a shift of the center of gravity (COG) of the whole system, which decreases the path tracking precision. To address this issue, an adaptive controller is designed to enable the cushion robot to accurately follow the target direction. The adaptive law can estimate the load and the position of the COG shift on-line, and can control the system so that it accurately follows a reference path generated to reach the target. Simulations and experiments are executed under the no-load condition and the load condition. The simulation and experimental results demonstrate that this control scheme effectively deals with the load change and the COG shift. Therefore, the cushion robot is reliable and convenient for assisting in-room movement of the elderly.

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