Abstract
In this paper, an intelligent wheelchair robot for adaptation to an unknown environment is developed. Environmental information is a key factor to comply to an unknown and/or unstructured environment. Since the environment has an infinite number of modes, the environmental information should be classified into some modes. This paper develops a novel viewpoint of robot motion control based on quarry of environmental information. The robot adapts to the environment based on the remote and contact information. In order to adapt to the remote environment, the obstacle avoidance problem is treated. This kind of robot motion control is based on position control. On the contrary, in order to adapt to the contact information, compliance control is applied to a robot. If the robot collides with the obstacles, the impact force is relaxed by the method, and safety is improved. This controller, on the other hand, is based on force control. In this paper, position control and force control are integrated in the acceleration dimension based on acceleration control. The robust acceleration control is attained by the disturbance observer. Finally, a semiautonomous function is installed for the improvement of human operationality. The numerical and experimental results show viability of the proposed method.
| Original language | English |
|---|---|
| Pages (from-to) | 1373-1382 |
| Number of pages | 10 |
| Journal | IEEE Transactions on Industrial Electronics |
| Volume | 53 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - 2006 Jun |
| Externally published | Yes |
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Keywords
- Acceleration control
- Compliance control
- Disturbance observer
- Environmental information
- Haptics
- Human-robot interaction
- Motion control
- Obstacle avoidance
- Quarry process
- Wheelchair
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Instrumentation
Cite this
Semiautonomous wheelchair based on quarry of environmental information. / Katsura, Seiichiro; Ohnishi, Kouhei.
In: IEEE Transactions on Industrial Electronics, Vol. 53, No. 4, 06.2006, p. 1373-1382.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Semiautonomous wheelchair based on quarry of environmental information
AU - Katsura, Seiichiro
AU - Ohnishi, Kouhei
PY - 2006/6
Y1 - 2006/6
N2 - In this paper, an intelligent wheelchair robot for adaptation to an unknown environment is developed. Environmental information is a key factor to comply to an unknown and/or unstructured environment. Since the environment has an infinite number of modes, the environmental information should be classified into some modes. This paper develops a novel viewpoint of robot motion control based on quarry of environmental information. The robot adapts to the environment based on the remote and contact information. In order to adapt to the remote environment, the obstacle avoidance problem is treated. This kind of robot motion control is based on position control. On the contrary, in order to adapt to the contact information, compliance control is applied to a robot. If the robot collides with the obstacles, the impact force is relaxed by the method, and safety is improved. This controller, on the other hand, is based on force control. In this paper, position control and force control are integrated in the acceleration dimension based on acceleration control. The robust acceleration control is attained by the disturbance observer. Finally, a semiautonomous function is installed for the improvement of human operationality. The numerical and experimental results show viability of the proposed method.
AB - In this paper, an intelligent wheelchair robot for adaptation to an unknown environment is developed. Environmental information is a key factor to comply to an unknown and/or unstructured environment. Since the environment has an infinite number of modes, the environmental information should be classified into some modes. This paper develops a novel viewpoint of robot motion control based on quarry of environmental information. The robot adapts to the environment based on the remote and contact information. In order to adapt to the remote environment, the obstacle avoidance problem is treated. This kind of robot motion control is based on position control. On the contrary, in order to adapt to the contact information, compliance control is applied to a robot. If the robot collides with the obstacles, the impact force is relaxed by the method, and safety is improved. This controller, on the other hand, is based on force control. In this paper, position control and force control are integrated in the acceleration dimension based on acceleration control. The robust acceleration control is attained by the disturbance observer. Finally, a semiautonomous function is installed for the improvement of human operationality. The numerical and experimental results show viability of the proposed method.
KW - Acceleration control
KW - Compliance control
KW - Disturbance observer
KW - Environmental information
KW - Haptics
KW - Human-robot interaction
KW - Motion control
KW - Obstacle avoidance
KW - Quarry process
KW - Wheelchair
UR - http://www.scopus.com/inward/record.url?scp=33747609120&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33747609120&partnerID=8YFLogxK
U2 - 10.1109/TIE.2006.878294
DO - 10.1109/TIE.2006.878294
M3 - Article
VL - 53
SP - 1373
EP - 1382
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
SN - 0278-0046
IS - 4
ER -