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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/10173/1505c7174778-709e-4352-bc26-a72b1643fbaa
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
28-1.pdf (507.5 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 | 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× Wang, Shuoyu× Jiang, Yinlai× Ishida, Kenji× Fujie, Masakatsu G.× 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 |
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| 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 | |||||
