Browse > Article
http://dx.doi.org/10.5573/ieek.2013.50.1.261

The Study of Methods for Improve the Linearity of the Walking Assistant Robot to Move on Lateral Slopes  

Lee, Won-Young (Dept. of Electronic Engineering, Korea Polytechnic University)
Eom, Su-Hong (Dept. of Electronic Engineering, Korea Polytechnic University)
Jang, Mun-Suck (Dept. of Electronic Engineering, Korea Polytechnic University)
Kwon, O-Sang (Dept. of Electronic Engineering, Korea Polytechnic University)
Lee, Eung-Hyuk (Dept. of Mechanical Automation, Gyeonggi College of Science and Technology)
Publication Information
Journal of the Institute of Electronics and Information Engineers / v.50, no.1, 2013 , pp. 261-268 More about this Journal
Abstract
In this paper, we propose the algorithm that improves the linearity of the walking assistant robot on lateral slopes. The walking assistant robot goes out of the course due to the rotational moment which is caused by the weight of the robot and the slope. To compensate this, we give the weight to each driving axle after comparing the real rotational angular velocity with the target rotational angular velocity which is entered by an user. The results of applying the algorithm to the real walking assistant robot show that the yaw axis deviation of the robot without the algorithm diverges, but the yaw axis deviation of the robot with the algorithm lies within 20cm, which can be recognized as stable. In addition, the changing rate of the course deviation is stabilized and shows no more course deviation, after moving 300cm.
Keywords
Lateral Slopes; Walking Assistant Robot; Yaw-Axis Control;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
1 전경진, "실버공학기술개발", 한국정밀공학회, 제21권 제1호, pp.11-16, 2004.1
2 전경희, "노인생활실태 및 복지욕구조사", 한국보건사회연구회, 보건복지포럼, pp.50-56, 2005.3
3 심현민, 정치연, 이응혁, "노령자의 생활지원을 위한 지능형 보행보조 로봇 기술", 전자공학회지, 제33권 제7호, pp26-41, 2006.7   과학기술학회마을
4 최혁재, 강성재, 권칠용, 류제청, 이석민, 문무성, "고령자 보행보조로봇 제어기법 연구", 제어로봇시스템학회 논문지, 제16권 제9호, pp823-826, 2010.9   과학기술학회마을   DOI   ScienceOn
5 이동광, 공정식, 고민수, 이응혁, "비평탄지형에서의 보행의지파악 센서 진동량 감쇠 알고리즘 개발", 한국지능시스템학회, 제21권 제1호, pp42-48, 2011. 2   과학기술학회마을   DOI   ScienceOn
6 Kim K, Nam K, Oh S, Fujimoto H and Hori Y, "Yaw Motion Control of Power-assisted Wheelchairs under Lateral Disturbance Environment", IECON 2011 - 37th Annual Conference on IEEE Industrial Electronics Society, pp4256-4261, Nov. 2011.
7 Yasuhisa Hirata, Asami Hara, Kazuhiro Kosuge, "Motion Control of Passive Intelligent Walker Using Servo Brakes", IEEE Transactions on Robotics, vol23, No 5, pp981-990, Oct. 2007.   DOI   ScienceOn
8 Takei T, Suzuki Y, Matsumoto O, Adachi Y, Sasaki Y, Kamo M, "Development of assistive technologies for safe operation of electric wheelchairs on sloping sidewalks and grade height differences", System Integration (SII), IEEE/SICE International Symposium, pp43-48, Sendai, Japan, Dec. 2010.
9 C. E. Brubaker, "Effects of side slope on wheelchair performance", Journal of Rehabilitation Research and Development vol. 23 No. 2, pp55-57, 1986.
10 김종환, "Robot Soccer System", 과학문화사, pp 13-17, 1999.