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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/9857

Title: JAIST Robotic Walker Control Based on a Two-layered Kalman Filter
Authors: Lee, Geunho
Jung, Eui-Jung
Ohnuma, Takanori
Chong, Nak Young
Yi, Byung-Ju
Keywords: active walker
Kalman filter
natural interface
human intent estimation
Issue Date: 2011-05
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: 2011 IEEE International Conference on Robotics and Automation
Start page: 3682
End page: 3687
Abstract: This paper presents a new control scheme of JAIST Active Robotic Walker (JARoW) developed to provide elderly people with sufficient ambulatory capability. Toward its practical use, our focus is placed on how to allow easier and reliable maneuverability by creating a natural user interface. Specifically, our challenge lies in providing a well-functioning controller by detecting what the user wants to do or their intentions. A Kalman filter based tracking scheme is realized to estimate and predict the locations of the user’s legs and body in real time. The feedback control can then adjust the motions of JARoW corresponding to the actual user’s walking behaviors. Our experiments confirm that JARoW can autonomously adjust its motion direction and velocity without requiring any additional control inputs.
Rights: Copyright (C) 2011 IEEE. Reprinted from 2011 IEEE International Conference on Robotics and Automation, 2011, 3682-3687. 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/10119/9857
Material Type: author
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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