Posture balancing control of smart mobile walker for uneven terrain
This paper introduces a posture control of smart mobile walker, where the controller adjusts four linear actuators based on the measurement of orientation and ground forces to balance manipulator and to keep wheel contact with ground. It is an important feature for this walker to adapt its pose to u...
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| creator | Gyung-Hwan Yuk Hong-Soo Park Hong-Gul Jun Byung-Ju Dan Byeong-Rim Jo |
| description | This paper introduces a posture control of smart mobile walker, where the controller adjusts four linear actuators based on the measurement of orientation and ground forces to balance manipulator and to keep wheel contact with ground. It is an important feature for this walker to adapt its pose to uneven terrains such as ramp or slope since it aims to assist elderly and disabled safely. Control scheme is based on PID impedance control where sensor noise and wind-up due to low actuator performance are considered. Hardware implementation and its experimental result are presented. |
| doi_str_mv | 10.1109/URAI.2012.6462932 |
| format | Conference Proceeding |
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Hardware implementation and its experimental result are presented.</description><subject>Actuators</subject><subject>Force measurement</subject><subject>Impedance</subject><subject>Legged locomotion</subject><subject>Manipulators</subject><subject>Mobile communication</subject><subject>posture control</subject><subject>smart mobile walker</subject><subject>Wheels</subject><isbn>9781467331111</isbn><isbn>1467331112</isbn><isbn>1467331104</isbn><isbn>9781467331128</isbn><isbn>1467331090</isbn><isbn>9781467331098</isbn><isbn>1467331120</isbn><isbn>9781467331104</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2012</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo1j81KxDAUhSMiqGMfQNzkBVpvcpOmWQ7Fn4EBRcb1kHRuJdpJJO0ovr0Fx9Xh8MHHOYxdC6iEAHv7-rJcVRKErGpVS4vyhF0KVRvEGatTVljT_Hchzlkxju8AMEMDBi9Y-5zG6ZCJeze42IX4xrsUp5wGnno-7l2e-D75MBD_dsMHZd6nzA-RvijyiXJ2IV6xs94NIxXHXLDN_d2mfSzXTw-rdrkug4WpVG5HjnZaoas7K9E2tgHXaACtPClUPQqrrTeSfOcUgvaIhrCh2pNGwgW7-dMGItp-5jCP-9keb-MvnoFLTg</recordid><startdate>201211</startdate><enddate>201211</enddate><creator>Gyung-Hwan Yuk</creator><creator>Hong-Soo Park</creator><creator>Hong-Gul Jun</creator><creator>Byung-Ju Dan</creator><creator>Byeong-Rim Jo</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>201211</creationdate><title>Posture balancing control of smart mobile walker for uneven terrain</title><author>Gyung-Hwan Yuk ; Hong-Soo Park ; Hong-Gul Jun ; Byung-Ju Dan ; Byeong-Rim Jo</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-4adeaed543a6c92398980a850054be434f31959b72ebca4305b337e38e6be53e3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2012</creationdate><topic>Actuators</topic><topic>Force measurement</topic><topic>Impedance</topic><topic>Legged locomotion</topic><topic>Manipulators</topic><topic>Mobile communication</topic><topic>posture control</topic><topic>smart mobile walker</topic><topic>Wheels</topic><toplevel>online_resources</toplevel><creatorcontrib>Gyung-Hwan Yuk</creatorcontrib><creatorcontrib>Hong-Soo Park</creatorcontrib><creatorcontrib>Hong-Gul Jun</creatorcontrib><creatorcontrib>Byung-Ju Dan</creatorcontrib><creatorcontrib>Byeong-Rim Jo</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Gyung-Hwan Yuk</au><au>Hong-Soo Park</au><au>Hong-Gul Jun</au><au>Byung-Ju Dan</au><au>Byeong-Rim Jo</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Posture balancing control of smart mobile walker for uneven terrain</atitle><btitle>2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)</btitle><stitle>URAI</stitle><date>2012-11</date><risdate>2012</risdate><spage>63</spage><epage>64</epage><pages>63-64</pages><isbn>9781467331111</isbn><isbn>1467331112</isbn><eisbn>1467331104</eisbn><eisbn>9781467331128</eisbn><eisbn>1467331090</eisbn><eisbn>9781467331098</eisbn><eisbn>1467331120</eisbn><eisbn>9781467331104</eisbn><abstract>This paper introduces a posture control of smart mobile walker, where the controller adjusts four linear actuators based on the measurement of orientation and ground forces to balance manipulator and to keep wheel contact with ground. 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| identifier | ISBN: 9781467331111 |
| ispartof | 2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2012, p.63-64 |
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| language | eng |
| recordid | cdi_ieee_primary_6462932 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Actuators Force measurement Impedance Legged locomotion Manipulators Mobile communication posture control smart mobile walker Wheels |
| title | Posture balancing control of smart mobile walker for uneven terrain |
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