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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/10119/11609

タイトル: Development of an Easy-to-Manipulate Assistive Cart System Using an Observer Based Impedance Control
著者: Lee, Hosun
Kwon, Chulmin
Lee, Geunho
Jeong, Sungmoon
Chong, Nak Young
キーワード: Human-robot interaction
Assistive cart
Impedance control
Force assist
Easy maneuverability
発行日: 2013-10-30
出版者: Institute of Electrical and Electronics Engineers (IEEE)
誌名: 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)
開始ページ: 255
終了ページ: 256
DOI: 10.1109/URAI.2013.6677360
抄録: In this paper, we develop an assistive cart that allows users to transport heavy load with lower effort. Our focus is placed on how to design and control the assistive cart to provide reliable user-cart interactions regardless of the condition changes of the loaded weight and the ground. For this purpose, Force/Torque sensor and two motorized wheels are equipped on a conventional cart to response to the user’s operation by sensing the input force and generating the assist force. The observer-based impedance control is designed to compute the assistive force with the input force of the user and the velocity of the cart. We verify the validity of the developed assistive cart by comparing the performance of the empty-cart case and the loaded-cart case.
Rights: This is the author's version of the work. Copyright (C) 2013 IEEE. 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2013, 255-256. 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/10119/11609
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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