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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/10119/10909

タイトル: Switched Observer Based Impedance Control for an Assistive Robotic Cart under Unknown Parameters
著者: Lee, Hosun
Lee, Geunho
Kwon, Chulmin
Noguchi, Naoto
Chong, Nak Young
キーワード: assistive cart
easy maneuverability
impedance control
disturbance observer
process integration and design optimization
発行日: 2012-09
出版者: Institute of Electrical and Electronics Engineers (IEEE)
誌名: 2012 IEEE RO-MAN : The 21st IEEE International Symposium on Robot and Human Interactive Communication
開始ページ: 101
終了ページ: 106
DOI: 10.1109/ROMAN.2012.6343738
抄録: This paper presents a new control scheme of an assistive robotic cart that helps a user easily transport objects in various weights. The maneuverability of the cart would be highly affected by the loaded weight of the cart and the friction between the wheel and the floor. Our focus is placed on how to enable the cart to offer easy maneuverability by creating desired interactions with a user. For this, a switched observer based impedance control scheme is proposed to allow the cart to autonomously adapt to changes in the weight of the load and the friction. Specifically, a pre-determined impedance between the user and the cart is regulated to generate an assist force using the user's input force and the velocity of the cart. The switched observer is designed to estimate the loaded weight and the friction coefficient for the precise computation of the amount of assistance. Further, using the process integration and design optimization approach, the observer gains are automatically adjusted, resulting in enhancing the control performance. We describe the proposed scheme in detail, and perform extensive simulations to demonstrate its effectiveness.
Rights: This is the author's version of the work. Copyright (C) 2012 IEEE. 2012 IEEE RO-MAN : The 21st IEEE International Symposium on Robot and Human Interactive Communication, 2012, 101-106. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
URI: http://hdl.handle.net/10119/10909
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)


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