Robotic walkers are a promising techological direction to improve the mobility of older adults. In this paper, we propose a guidance mechanism based on the differential actions of two brakes located on the rear wheels. The guidance problem can be seen as a complex dynamic path following problem, with limited control authority in the actuators and with important constraints on the user comfort. We cast the problem into an optimisation framework and propose a computationally efficient solution that can be implemented on low cost devices with limited computing power. Simulation results are presented to validate the proposed approach.
|Titolo:||A passive guidance system for a robotic walking assistant using brakes|
|Citazione:||Fontanelli, D., Giannitrapani, A., Palopoli, L., & Prattichizzo, D. (2015). A passive guidance system for a robotic walking assistant using brakes. In 2015 54TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC) (pp.829-834). New York : IEEE.|
|Appare nelle tipologie:||4.1 Contributo in Atti di convegno|