Motion control of omni-directional type walking support system "Walking Helper"
Hirata, Y.; Baba, T.; Kosuge, K.
Robot and Human Interactive Communication, 2003. Proceedings. ROMAN 2003. The 12th IEEE International Workshop on
Volume , Issue , 31 Oct.-2 Nov. 2003 Page(s): 85 - 90
Digital Object Identifier   10.1109/ROMAN.2003.1251806
Summary: In this paper, we develop a prototype of an intelligent walking support system referred to as walking helper and propose a motion control algorithm for it. Walking Helper consists of an omni-directional mobile base, a body force sensor, a support frame and a cover around the mobile base. By using the omni-directional mobile base and body force sensor, the good maneuverability and the high safety of walking helper are realized. In addition, we propose a motion control algorithm referred to as adaptive caster action to utilize walking helper effectively in an environment such as a home, an office, a hospital, etc. The proposed control algorithm is experimentally applied to the developed walking helper, and the validity of the proposed control algorithm is illustrated by the experimental results.

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