ICRA 2011 Paper Abstract


Paper WeP108.2

Lee, Geunho (Japan Advanced Inst. of Sci. & Tech), Jung, Eui-jung (Hanyang University), Ohnuma, Takanori (Japan Advanced Inst. of Sci. and Tech.), Chong, Nak Young (Japan Advanced Inst. of Sci. and Tech.), Yi, Byung-Ju (Hanyang University)

JAIST Robotic Walker Control Based on a Two-Layered Kalman Filter

Scheduled for presentation during the Regular Sessions "Rehabilitation Robotics III" (WeP108), Wednesday, May 11, 2011, 13:55−14:10, Room 5C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Rehabilitation Robotics, Cognitive Human-Robot Interaction, Service Robots


This paper presents a new control scheme of JAIST Active Robotic Walker (JARoW) developed to provide elderly people with sufficient ambulatory capability. Toward its practical use, our focus is placed on how to allow easier and reliable maneuverability by creating a natural user interface. Specifically, our challenge lies in providing a well-functioning controller by detecting what the user wants to do or their intentions. A Kalman filter based tracking scheme is realized to estimate and predict the locations of the user's legs and body in real time. The feedback control can then adjust the motions of JARoW corresponding to the actual user's walking behaviors. Our experiments confirm that JARoW can autonomously adjust its motion direction and velocity without requiring any additional control inputs.



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