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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/10909

Title: Switched Observer Based Impedance Control for an Assistive Robotic Cart under Unknown Parameters
Authors: Lee, Hosun
Lee, Geunho
Kwon, Chulmin
Noguchi, Naoto
Chong, Nak Young
Keywords: assistive cart
easy maneuverability
impedance control
disturbance observer
process integration and design optimization
Issue Date: 2012-09
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: 2012 IEEE RO-MAN : The 21st IEEE International Symposium on Robot and Human Interactive Communication
Start page: 101
End page: 106
DOI: 10.1109/ROMAN.2012.6343738
Abstract: 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
Material Type: author
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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