Omniwheel Touchdown Characteristics and Adaptive Saturated Control for a Human Support Robot
With population aging, increasing numbers of people who are elderly are losing the ability to walk and therefore are experiencing difficulties caring for themselves. This prompted the designing of a sitting-type walking-assistance robot named the human support robot (HSR), which can move accurately...
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| Format: | Article |
| Language: | English |
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IEEE
2018-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8463472/ |
| _version_ | 1823925008729112576 |
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| author | Hongbin Chang Shuoyu Wang Ping Sun |
| author_facet | Hongbin Chang Shuoyu Wang Ping Sun |
| author_sort | Hongbin Chang |
| collection | DOAJ |
| description | With population aging, increasing numbers of people who are elderly are losing the ability to walk and therefore are experiencing difficulties caring for themselves. This prompted the designing of a sitting-type walking-assistance robot named the human support robot (HSR), which can move accurately in narrow indoor environments and act as a person's legs to assist her/him with activities of daily living. With the construction of a dynamic model of the HSR, a saturated control algorithm guarantees the safety of the omniwheels and the HSR supporting process. Analysis of the omniwheel touchdown characteristics improves the accuracy of the dynamic HSR model. Under trajectory tracking control with adaptive technology, the HSR tracking performance is improved, and the vibration in the orientation angle caused by the omniwheel touchdown characteristics is eliminated. The exponential practical stability of the tracking error system is derived, and the effectiveness of the proposed methods is confirmed in simulations. |
| first_indexed | 2024-12-16T20:02:08Z |
| format | Article |
| id | doaj.art-a5f27e74dcad425480e889c1f6353d91 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-16T20:02:08Z |
| publishDate | 2018-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-a5f27e74dcad425480e889c1f6353d912022-12-21T22:18:26ZengIEEEIEEE Access2169-35362018-01-016511745118610.1109/ACCESS.2018.28698368463472Omniwheel Touchdown Characteristics and Adaptive Saturated Control for a Human Support RobotHongbin Chang0Shuoyu Wang1Ping Sun2https://orcid.org/0000-0002-4131-6648Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology, Kochi, JapanDepartment of Intelligent Mechanical Systems Engineering, Kochi University of Technology, Kochi, JapanSchool of Information Science and Engineering, Shenyang University of Technology, Shenyang, ChinaWith population aging, increasing numbers of people who are elderly are losing the ability to walk and therefore are experiencing difficulties caring for themselves. This prompted the designing of a sitting-type walking-assistance robot named the human support robot (HSR), which can move accurately in narrow indoor environments and act as a person's legs to assist her/him with activities of daily living. With the construction of a dynamic model of the HSR, a saturated control algorithm guarantees the safety of the omniwheels and the HSR supporting process. Analysis of the omniwheel touchdown characteristics improves the accuracy of the dynamic HSR model. Under trajectory tracking control with adaptive technology, the HSR tracking performance is improved, and the vibration in the orientation angle caused by the omniwheel touchdown characteristics is eliminated. The exponential practical stability of the tracking error system is derived, and the effectiveness of the proposed methods is confirmed in simulations.https://ieeexplore.ieee.org/document/8463472/Human support robotomniwheel touchdown characteristicstrajectory trackingadaptive saturated control |
| spellingShingle | Hongbin Chang Shuoyu Wang Ping Sun Omniwheel Touchdown Characteristics and Adaptive Saturated Control for a Human Support Robot IEEE Access Human support robot omniwheel touchdown characteristics trajectory tracking adaptive saturated control |
| title | Omniwheel Touchdown Characteristics and Adaptive Saturated Control for a Human Support Robot |
| title_full | Omniwheel Touchdown Characteristics and Adaptive Saturated Control for a Human Support Robot |
| title_fullStr | Omniwheel Touchdown Characteristics and Adaptive Saturated Control for a Human Support Robot |
| title_full_unstemmed | Omniwheel Touchdown Characteristics and Adaptive Saturated Control for a Human Support Robot |
| title_short | Omniwheel Touchdown Characteristics and Adaptive Saturated Control for a Human Support Robot |
| title_sort | omniwheel touchdown characteristics and adaptive saturated control for a human support robot |
| topic | Human support robot omniwheel touchdown characteristics trajectory tracking adaptive saturated control |
| url | https://ieeexplore.ieee.org/document/8463472/ |
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