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In this study, the concept of autonomous mobility is applied to a service robot. The aim of the development of the service robot is for the elderly assisting walking rehabilitation. The path tracking algorithm is used based on the kinematics of the AMR. The walking assistant path pattern is derived from analyzing the elderly walking pattern. A lever is installed in the AMR in order to measure the pulling force and the leading force of the elderly. The AMR tracks the reference path, which is for the elderly walking by applying the path tracking algorithm with an optimal controller. A lever mechanism is applied for walking assistant service of the AMR. This lever is designed for measuring the leading force of the elderly. The elderly adjusts the velocity of the robot by applying force to the lever. Using the wireless Internet communication, the AMR information can offer the navigation information to the clients. The clients as a supporter can be accessed remotely to the elderly walking information. Also the PDA is used for checking the brief walking information, which is the elderly walking velocity and location information in large construction indoor.