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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/10285

Title: Particle Filter Based Feedback Control of JAIST Active Robotic Walker
Authors: Ohnuma, Takanori
Lee, Geunho
Chong, Nak Young
Keywords: Particle filter
Omnidirectional wheel
Active walker
Natural user interface
Feedback control
Issue Date: 2011-07-31
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: 2011 RO-MAN, 20th IEEE International Symposium on Robot and Human Interactive Communication
Start page: 264
End page: 269
DOI: 10.1109/ROMAN.2011.6005262
Abstract: 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
Material Type: author
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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