Walking Support and Power Assistance of a Wheelchair Typed Omnidirectional Mobile Robot with Admittance Control

Zhu, Chi; Oda, Masashi; Yu, Haoyong; Watanabe, Hideomi; Yao, Yan

doi:10.5772/29736

Cited by 5 publications

(2 citation statements)

References 13 publications

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“…Thus, it can (3). The dual-wheel active caster is studied for many applications [18][19][20][21][22][23][24].…”

Section: Dual-wheel Active Castermentioning

confidence: 99%

Cooperative control of multiple modular mobile systems with active-caster omnidirectional drive mechanisms

Wada

2022

Communications in Information and Systems

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In this paper, an "active-caster" omnidirectional wheel mechanism is introduced. The original type of the active caster was invented more than twenty-five years ago, and various types of active casters were developed by the author's group, some of which are described in this paper as well. Unlike other omnidirectional wheels such as Mecanum Wheel or Universal Wheel, active casters do not need freely rotating parts. An active caster is an orientable wheel with a normal tire, the steering and wheel shafts of which do not intersect like a normal passive caster. The wheel and steering shafts are driven by the respective motors to perform the omnidirectional movement of the robot.To apply this technology to various fields, many types of active casters have been developed. For example, a two-wheeled active caster was developed to avoid redundant actuation, dual-wheeled active caster-to reduce turning friction, and differential-drivetype active caster-to improve the operating rate of the actuators.A cooperative transporting system with multiple two-wheeled mobile robots is presented as a future work that realizes the omnidirectional transportation of large objects with multiple mobile robots. Each mobile robot is controlled to perform the active-caster motion during the transporting task, and it can move independently in the same manner as a two-wheeled robot. This configuration increases flexibility in object transport applications.

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“…Thus, it can (3). The dual-wheel active caster is studied for many applications [18][19][20][21][22][23][24].…”

Section: Dual-wheel Active Castermentioning

confidence: 99%

Cooperative control of multiple modular mobile systems with active-caster omnidirectional drive mechanisms

Wada

2022

Communications in Information and Systems

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“…I N recent years, due to the rapid population aging in most developed nations, there is an increased need for service robots and assistive and rehabilitation robots in both domestic [1], [2] and hospital settings [3], [4]. In these applications, the robots must have direct physical interaction with humans, and safety is a critical concern.…”

Section: Introductionmentioning

confidence: 99%

Human–Robot Interaction Control of Rehabilitation Robots With Series Elastic Actuators

et al. 2015

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Rehabilitation robots, by necessity, have direct physical interaction with humans. Physical interaction affects the controlled variables and may even cause system instability. Thus, human-robot interaction control design is critical in rehabilitation robotics research. This paper presents an interaction control strategy for a gait rehabilitation robot. The robot is driven by a novel compact series elastic actuator, which provides intrinsic compliance and backdrivablility for safe human-robot interaction. The control design is based on the actuator model with consideration of interaction dynamics. It consists mainly of human interaction compensation, friction compensation, and is enhanced with a disturbance observer. Such a control scheme enables the robot to achieve low output impedance when operating in human-in-charge mode and achieve accurate force tracking when operating in force control mode. Due to the direct physical interaction with humans, the controller design must also meet the stability requirement. A theoretical proof is provided to show the guaranteed stability of the closed-loop system under the proposed controller. The proposed design is verified with an ankle robot in walking experiments. The results can be readily extended to other rehabilitation and assistive robots driven with compliant actuators without much difficulty.

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Fundamental Development and Evaluation of Body Weight Load Reduction System Driven by Rubberless Artificial Muscle

Saito

Satoh

2018

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)

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Walking Support and Power Assistance of a Wheelchair Typed Omnidirectional Mobile Robot with Admittance Control

Cited by 5 publications

References 13 publications

Cooperative control of multiple modular mobile systems with active-caster omnidirectional drive mechanisms

Cooperative control of multiple modular mobile systems with active-caster omnidirectional drive mechanisms

Human–Robot Interaction Control of Rehabilitation Robots With Series Elastic Actuators

Fundamental Development and Evaluation of Body Weight Load Reduction System Driven by Rubberless Artificial Muscle

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