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  1. 学術雑誌論文

Adaptive Control Method for Path-Tracking Control of an Omni-Directional Walker Compensating for Center-of-Gravity Shifts and Load Changes

http://hdl.handle.net/10173/1505
http://hdl.handle.net/10173/1505
c7174778-709e-4352-bc26-a72b1643fbaa
名前 / ファイル ライセンス アクション
28-1.pdf 28-1.pdf (507.5 kB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2017-03-24
タイトル
タイトル Adaptive Control Method for Path-Tracking Control of an Omni-Directional Walker Compensating for Center-of-Gravity Shifts and Load Changes
言語
言語 eng
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 Adaptive control
キーワード
主題Scheme Other
主題 Load change
キーワード
主題Scheme Other
主題 Center-of-gravity shift
キーワード
主題Scheme Other
主題 Path tracking
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

Tan, Renpeng

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Wang, Shuoyu

× Wang, Shuoyu

Wang, Shuoyu

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Jiang, Yinlai

× Jiang, Yinlai

Jiang, Yinlai

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Ishida, Kenji

× Ishida, Kenji

Ishida, Kenji

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Fujie, Masakatsu G.

× Fujie, Masakatsu G.

Fujie, Masakatsu G.

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Nagano, Masanori

× Nagano, Masanori

Nagano, Masanori

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抄録
内容記述タイプ Abstract
内容記述 In 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 prede ned path because of center-of-gravity shifts and load changes. It is necessary for the walker to precisely follow the paths de ned in the walking training programs to guarantee the effectiveness of rehabilitation and user safety. Therefore, this paper describes a path-tracking control method for the omni-directional walker to compensate for center-of-gravity shifts and load changes. First, the kinematics and kinetics of the omni-directional walker motion are presented. Second, an adaptive control strategy is proposed. Finally, simulations show that the walker can be controlled accurately by using the proposed method.
書誌情報 International Journal of Innovative Computing, Information and Control

巻 7, 号 7(B), p. 4423-4434, 発行日 2011-07
ISSN
収録物識別子タイプ ISSN
収録物識別子 1349-4198
権利
権利情報 ICIC International © 2011
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
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