Paper Info
Title
Improved Gait Algorithm and Mobility Performance of RT-Mover Type Personal Mobility Vehicle
Abstract
We have developed a personal mobility vehicle (PMV) with four driven wheels that is capable of negotiating obstacles with a leg motion mechanism. When obstacles are encountered, wheels are lifted, moved ahead in a stepping-like motion, and lowered back down, thereby allowing the PMV to advance further. In our previous paper, we discussed the principle of the gait algorithm used by our PMV, in which wheels are utilized as legs to negotiate obstacles. In the original algorithm, when the wheels encountered terrain that might require leg motion to traverse, the system determined whether such motion was applicable and, if it was, orchestrated a series of leg motions. However, there were terrains that could not be negotiated using the original algorithm. In this paper, we propose an improved gait algorithm, in which when the vehicle encounters terrain intractable by leg motion with its current posture, the vehicle changes its posture until it can traverse that terrain. We verified the effectiveness of the improved gait algorithm through a variety of mobility tests with a passenger. In addition, we present numerical data on the range of terrain topologies that could be negotiated by the proposed algorithm.
Year
DOI
Venue
2014
10.1109/ACCESS.2013.2296557
Access, IEEE  
Keywords
Field
DocType
mobile robots,motion control,position control,road vehicles,wheelchairs,PMV,RT-Mover type personal mobility vehicle,gait algorithm,leg motion mechanism,mobility performance,numerical data,obstacle negotiation,stepping-like motion,terrain topology,vehicle posture change,wheel lifting,Gait algorithm,mobility performance,obstacle,personal mobility vehicle,robotic wheelchair,rough terrain,terrain topology
Obstacle,Motion control,Algorithm design,Gait,Simulation,Computer science,Personal mobility,Terrain,Algorithm,Mobile robot,Traverse
Journal
Volume
ISSN
Citations 
2
2169-3536
4
PageRank 
References 
Authors
0.92
4
1
Name
Order
Citations
PageRank
Shuro Nakajima14511.54