Simulating Passivity for Robotic Walkers via Authority-Sharing

被引：13

作者：

Andreetto, Marco ^{[2
]}

Divan, Stefano ^{[2
]}

Ferrari, Francesco ^{[2
]}

Fontanelli, Daniele ^{[1
]}

Palopoli, Luigi ^{[2
]}

Zenatti, Fabiano ^{[2
]}

机构：

[1] Univ Trento, Dept Ind Engn DII, I-38122 Trento, Italy

[2] Univ Trento, Dept Informat Engn & Comp Sci DISI, I-37136 Trento, Italy

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2018年 / 3卷 / 02期

关键词：

Service robots; authority-sharing; GUIDANCE; DESIGN;

D O I：

10.1109/LRA.2018.2797321

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We consider a robotic walking assistant used to guide senior users across a crowded space. The problem we address is how to guide the user using motorized back wheels. Our strategy aims to simulate a passive behavior in which the forward velocity is the one imposed by the user, who receives the impression of controlling the motion. The result is obtained leaving the user in control (without any actuation) when she/he follows straight lines, while the motors kick in when the user has to make a turn. We offer extensive theoretical proof of the validity of our strategy. The technique has been validated via extensive experimentation with a large group of older adults.

引用

页码：1306 / 1313

页数：8

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