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Nonlinear Adaptive Controller for Omni-Directional Walker : Dynamic Model Improvement and Experiment
http://hdl.handle.net/10173/1454
http://hdl.handle.net/10173/1454857b7530-0b59-4903-b838-f24b883d26a6
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
28-4.pdf (406.7 kB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
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| 公開日 | 2017-03-24 | |||||
| タイトル | ||||||
| タイトル | Nonlinear Adaptive Controller for Omni-Directional Walker : Dynamic Model Improvement and Experiment | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Walker | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Omni-directional walker | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Rehabilitation | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Motion control | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Adaptive controller | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
| 資源タイプ | journal article | |||||
| 著者 |
Tan, Renpeng
× Tan, Renpeng× Wang, Shuoyu× Jiang, Yinlai× Ishida, Kenji× Fuji, Masakatsu G. |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | This paper describes an omni-directional walker (ODW), which is being developed for both walking rehabilitation and walking support for people with walking disabilities. The ODW needs to accurately follow the path referring to the exercise prescription from physical therapists. However, path tracking error happens during walking rehabilitation. This paper is part of an effort aiming to improve path tracking accuracy of the ODW considering the center-of-gravity shifts (COG) and load changes caused by user. In previous studies, a nonlinear adaptive controller was proposed based on a gravity model of the ODW. In this paper, in order to precisely describe the plant, a new center-dynamic model of the ODW and an improved nonlinear adaptive control method are derived. We conducted experiments in which the ODW was controlled to follow a linear path as a common rehabilitation path. Experiment results showed that the improved strategy is effective to deal with the COG shifts and load changes. | |||||
| 書誌情報 |
ICIC Express Letters 巻 6, 号 3, p. 611-615, 発行日 2012-03 |
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| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 1881-803X | |||||
| 権利 | ||||||
| 権利情報 | ICIC International © 2012 | |||||
| 著者版フラグ | ||||||
| 出版タイプ | VoR | |||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
| 出版者 | ||||||
| 出版者 | ICIC International | |||||
