Abstract
An intelligent wheelchair for adaptation to unknown and/or unstructured environment is developed in this paper. In the motion control under open environment, it is necessary for a robot to adapt to interference from other systems and unknown environment. Since both of the human force and the external force from the environment are applied to a robot as a disturbance, it is difficult for a robot to decompose them into each mode. In order to solve the above problem, a novel force sensing method named “Environment Quarrier” is proposed in this paper. Two same types of robots are required and they are controlled in the same position, velocity and acceleration by bilateral control. One robot is in contact motion and the other is unconstrained. The gravity and the friction effects are identified by the disturbance observer. The purity of external force is obtained by subtracting the disturbance torque in the unconstrained robot from the constrained one. The proposed method is applied for a power-assist wheelchair. An operationality of a human and adaptability to the environment are improved. Sensorless force control based on the environment quarrier is one of the fundamental techniques for evolution of human-cooperative robots. The experimental results show viability of the proposed method.
| Original language | English |
|---|---|
| Pages (from-to) | 698-704 |
| Number of pages | 7 |
| Journal | IEEJ Transactions on Industry Applications |
| Volume | 125 |
| Issue number | 7 |
| DOIs | |
| Publication status | Published - 2005 Sep 1 |
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Keywords
- acceleration control
- disturbance observer
- environment quarrier
- haptics
- human-robot interaction
- motion control
- wheelchair
ASJC Scopus subject areas
- Industrial and Manufacturing Engineering
- Electrical and Electronic Engineering
Cite this
Advanced Motion Control for Wheelchair Based on Environment Quarrier. / Katsura, Seiichiro; Ohnishi, Kouhei.
In: IEEJ Transactions on Industry Applications, Vol. 125, No. 7, 01.09.2005, p. 698-704.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Advanced Motion Control for Wheelchair Based on Environment Quarrier
AU - Katsura, Seiichiro
AU - Ohnishi, Kouhei
PY - 2005/9/1
Y1 - 2005/9/1
N2 - An intelligent wheelchair for adaptation to unknown and/or unstructured environment is developed in this paper. In the motion control under open environment, it is necessary for a robot to adapt to interference from other systems and unknown environment. Since both of the human force and the external force from the environment are applied to a robot as a disturbance, it is difficult for a robot to decompose them into each mode. In order to solve the above problem, a novel force sensing method named “Environment Quarrier” is proposed in this paper. Two same types of robots are required and they are controlled in the same position, velocity and acceleration by bilateral control. One robot is in contact motion and the other is unconstrained. The gravity and the friction effects are identified by the disturbance observer. The purity of external force is obtained by subtracting the disturbance torque in the unconstrained robot from the constrained one. The proposed method is applied for a power-assist wheelchair. An operationality of a human and adaptability to the environment are improved. Sensorless force control based on the environment quarrier is one of the fundamental techniques for evolution of human-cooperative robots. The experimental results show viability of the proposed method.
AB - An intelligent wheelchair for adaptation to unknown and/or unstructured environment is developed in this paper. In the motion control under open environment, it is necessary for a robot to adapt to interference from other systems and unknown environment. Since both of the human force and the external force from the environment are applied to a robot as a disturbance, it is difficult for a robot to decompose them into each mode. In order to solve the above problem, a novel force sensing method named “Environment Quarrier” is proposed in this paper. Two same types of robots are required and they are controlled in the same position, velocity and acceleration by bilateral control. One robot is in contact motion and the other is unconstrained. The gravity and the friction effects are identified by the disturbance observer. The purity of external force is obtained by subtracting the disturbance torque in the unconstrained robot from the constrained one. The proposed method is applied for a power-assist wheelchair. An operationality of a human and adaptability to the environment are improved. Sensorless force control based on the environment quarrier is one of the fundamental techniques for evolution of human-cooperative robots. The experimental results show viability of the proposed method.
KW - acceleration control
KW - disturbance observer
KW - environment quarrier
KW - haptics
KW - human-robot interaction
KW - motion control
KW - wheelchair
UR - http://www.scopus.com/inward/record.url?scp=33745455932&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33745455932&partnerID=8YFLogxK
U2 - 10.1541/ieejias.125.698
DO - 10.1541/ieejias.125.698
M3 - Article
VL - 125
SP - 698
EP - 704
JO - IEEJ Transactions on Industry Applications
JF - IEEJ Transactions on Industry Applications
SN - 0913-6339
IS - 7
ER -