|
JAIST Repository >
b. 情報科学研究科・情報科学系 >
b11. 会議発表論文・発表資料等 >
b11-1. 会議発表論文・発表資料 >
このアイテムの引用には次の識別子を使用してください:
http://hdl.handle.net/10119/10285
|
| タイトル: | Particle Filter Based Feedback Control of JAIST Active Robotic Walker |
| 著者: | Ohnuma, Takanori
Lee, Geunho
Chong, Nak Young |
| キーワード: | Particle filter
Omnidirectional wheel
Active walker
Natural user interface
Feedback control |
| 発行日: | 2011-07-31 |
| 出版者: | Institute of Electrical and Electronics Engineers (IEEE) |
| 誌名: | 2011 RO-MAN, 20th IEEE International Symposium on Robot and Human Interactive Communication |
| 開始ページ: | 264 |
| 終了ページ: | 269 |
| DOI: | 10.1109/ROMAN.2011.6005262 |
| 抄録: | We present a new control scheme of JAIST Active Robotic Walker (JARoW) developed to provide potential users such as the elderly with sufficient ambulatory capability. Toward its practical use, we tackle JARoW’s easy and reliablemaneuverability by creating a natural user interface betweena user and JARoW. Specifically, our focus is placed on how to realize the natural and smooth movement of JARoW despitedifferent gait parameters of users. For this purpose, a particle filtered interface function (PFIF) is proposed to estimate and predict the locations of the user’s legs and body. Then, the simple feedback motion control function adjusts the motions of JARoW corresponding to the estimation and prediction. Experimental results show that the proposed control scheme can be quite satisfactory for practical use without requiring any additional user effort. |
| Rights: | Copyright (C) 2011 IEEE. Reprinted from 2011 RO-MAN, 20th IEEE International Symposium on Robot and Human Interactive Communication, 2011, 264-269. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of JAIST's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. |
| URI: | http://hdl.handle.net/10119/10285 |
| 資料タイプ: | author |
| 出現コレクション: | b11-1. 会議発表論文・発表資料 (Conference Papers)
|
このアイテムのファイル:
| ファイル |
記述 |
サイズ | 形式 |
|---|
| 676.pdf | | 835Kb | Adobe PDF | 見る/開く |
|
当システムに保管されているアイテムはすべて著作権により保護されています。
|
