An Omni-Directional Mobile Walking Support Robot

被引：0

作者：

Kang Peipei ^{[1
]}

Deng Yiding ^{[1
]}

Duan Feng ^{[1
]}

Zhu Chi ^{[2
]}

机构：

[1] Nankai Univ, Coll Informat Tech Sci, Tianjin 300071, Peoples R China

[2] Maebashi Inst Technol, Dept Syst Life Engn, Gunma 3710816, Japan

来源：

2013 32ND CHINESE CONTROL CONFERENCE (CCC) | 2013年

关键词：

differential drive control mode; omni-directional mobile; power assistance; walking support robot;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper introduces a new design of the omni-directional mobile robot, which realizes the omni-directional movement through a differential drive control mode. A six axis force sensor is used to identify the user's walking intention, which controls the robot to accomplish the corresponding movement. Because of the slow walking speed of the elderly, the maximum speed of the robot is 1 m/s. In order to ensure the safety of the elderly, the emergency button is set up. In this paper, the design of the omni-directional mobile robot is based on common wheels: two front wheels are bolstering wheels; two rear wheels are double driving-wheel groups that consist of two active wheels. The experimental results show that the mobile robot can freely move left, right, forward, backward and obliquely according to the user's intention. The omni-directional mobile robot can support the elders or the disabled patients during walking period.

引用

页码：5716 / 5721

页数：6

共 6 条

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