TY - GEN
T1 - Obstacle avoidance for passive robot walking helper based on receding horizon control
AU - Hsieh, Yi Hung
AU - Ko, Chun Hsu
AU - Young, Kuu-Young
PY - 2017/2/6
Y1 - 2017/2/6
N2 - With the arrival of aging society, the passive robot walking helper is introduced to provide safe mobility for the elders, which features continuous energy dissipation from the system and is thus intrinsically safe. As both static and moving obstacles may be present in daily activities, obstacle avoidance during guidance is very imperative for its practical use, which motivates us to propose such a scheme based on receding horizon control. With a desired goal to reach, the proposed scheme first plans a smooth path for the walking helper to follow. A novel strategy, combined with receding horizon control, is then proposed to avoid the incoming obstacles detected by the equipped sensing system. Experiments based on our developed passive robot walking helper, i-Go, are conducted in real environments to demonstrate the effectiveness of the proposed scheme.
AB - With the arrival of aging society, the passive robot walking helper is introduced to provide safe mobility for the elders, which features continuous energy dissipation from the system and is thus intrinsically safe. As both static and moving obstacles may be present in daily activities, obstacle avoidance during guidance is very imperative for its practical use, which motivates us to propose such a scheme based on receding horizon control. With a desired goal to reach, the proposed scheme first plans a smooth path for the walking helper to follow. A novel strategy, combined with receding horizon control, is then proposed to avoid the incoming obstacles detected by the equipped sensing system. Experiments based on our developed passive robot walking helper, i-Go, are conducted in real environments to demonstrate the effectiveness of the proposed scheme.
KW - Motion guidance
KW - Obstacle avoidance
KW - Passive robot walking helper
KW - Receding horizon control
UR - http://www.scopus.com/inward/record.url?scp=85015808353&partnerID=8YFLogxK
U2 - 10.1109/SMC.2016.7844297
DO - 10.1109/SMC.2016.7844297
M3 - Conference contribution
AN - SCOPUS:85015808353
T3 - 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings
SP - 550
EP - 555
BT - 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016
Y2 - 9 October 2016 through 12 October 2016
ER -