Name
Abstract | ||
|---|---|---|
This work presents the kinematic and dynamic modeling of a human-wheelchair system which considers that its center of mass is not located in the middle of the wheel's axle. Furthermore, a novel motion controller is presented for a human-wheelchair system, which is capable of performing positioning and path-following tasks in human-shared environments. This controller design is based on two cascaded subsystems: a kinematic controller, and a dynamic controller that compensates the dynamics of the human-wheelchair system. Additionally, an algorithm based on fuzzy-logic is proposed and incorporated in the aforementioned path-following control for pedestrian collision avoidance. This methodology considers to quantify heuristics social rules to make a balance between modulating velocity or direction during the avoidance. Three different interference cases, commonly found during walking events, are tested in a structured scenario. The experimental results demonstrate that the system is capable of overcoming many usual interference situations with human obstacles. A good performance of the path-following control is also verified. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1142/S021984361850010X | INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS |
Keywords | Field | DocType |
Wheelchair, dynamic modeling, cascade control, Lyapunov's method, fuzzy logic, social evasion, pedestrian collision avoidance, human-robot interaction | Wheelchair,Kinematics,Simulation,Computer science,Fuzzy logic,Path following,System dynamics,Axle,Center of mass,Human–robot interaction | Journal |
Volume | Issue | ISSN |
15 | 2 | 0219-8436 |
Citations | PageRank | References |
0 | 0.34 | 4 |
Authors | ||
7 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| d herrera | 1 | 8 | 1.66 |
| Flavio Roberti | 2 | 77 | 10.70 |
| Ricardo O. Carelli | 3 | 51 | 10.77 |
| victor h andaluz | 4 | 28 | 27.06 |
| José Varela | 5 | 18 | 3.90 |
| jessica s ortiz | 6 | 16 | 7.68 |
| Paúl Canseco | 7 | 10 | 2.05 |