Human-Walking-Intention-Based Motion Control of an Omnidirectional-Type Cane Robot
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An intelligent cane robot is designed for aiding the elderly and handicapped people's walking. The robot consists of a stick, a group of sensors, and an omnidirectional basis driven by three Swedish wheels. Recognizing the user's walking intention plays an important role in the motion control of our cane robot. To quantitatively describe the user's walking intention, a concept called "intentional direction (ITD)" is proposed. Both the state model and the observation model of ITD are obtained by enumerating the possible walking modes and analyzing the relationship between the human–robot interaction force and the walking intention. From these two models, the user's walking intention can be online inferred using the Kalman filtering technique. Based on the estimated intention, a new admittance motion control scheme is proposed for the cane robot. Walking experiments aided by the cane robot on a flat ground and slope are carried out to validate the proposed control approach. The experimental results show that the user feels more natural and comfortable when our intention-based admittance control is applied.Keywords:
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This paper presents a systematic method of designing robot admittance for assembling generic polyhedral parts despite various uncertainties including the uncertainty in the grasping pose of the workpiece relative to the robot. First, the basic concept of how to design admittance is described. Then, the method of designing admittance for dealing with the uncertainties is provided. Lastly, the application of the admittance design method to an assembly task illustrates the effectiveness of the proposed method.
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For an unknown admittance connected at the end of a continuous nonuniform transmission line, a new simple and straightforward method of admittance measurement is introduced. The method permits the determination of the admittance based on the data measured at the input of the nonuniform transmission line.
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A self-consistent theory of the admittance of a perfect ballistic, locally charge neutral wire is proposed. Compared to a non-interacting theory, screening effects drastically change the frequency behavior of the conductance. In the single-channel case the frequency dependence of the admittance is monotonic, while for two or more channels collective interchannel excitations lead to resonant structures in the admittance. The imaginary part of the admittance is typically positive, but can become negative near resonances.
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Admittance control has been used in recent years to reproduce a desired dynamic response on non-backdrivable manipulators. One of the topics of research has been to increase the apparent admittance by reducing the virtual mass. However, mass-reduced admittance controllers become unstable when the environment (e.g. the operator) the robot is interacting with has too high impedance. In this paper, a framework is proposed to guarantee passive interaction between robot and human operator, while attempting to increase admittance as much as possible. An additional adaptive feedforward component is proposed, if direct force control is possible, to increase the apparent admittance further. The proposed framework is tested in simulation and has shown to indeed reduce apparent admittance.
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This paper describes a new method for designing admittance for spatial parts assembly with finite positioning errors and friction between the parts. First, how the admittance is described and how it should be designed or discussed to introduce the concept of the design approach. Then, the details of the admittance design method are presented. Finally, the design method is applied to a mating task to show the effectiveness of the proposed method.
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An asymptotic theory for the admittance of two collinear antennas is developed. The antennas can be of unequal lengths, and the feedpoint locations are practically arbitrary. The only restrictions are that the radii must be equal and small; while the smallest feedpoint-end distance and the separation between the antenna ends must be fairly large [i.e., (2π/λ) (distance) > 1, roughly]. The expressions obtained for the self-admittance and mutual admittance are in closed form and contain only elementary or known functions. Where comparison is possible, the results agree with previous theories. A few curves showing the effect of varying different parameters are presented, while some general conclusions about the behavior of the mutual admittance are drawn.
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The admittance characteristics of four kinds of Chinese wheelsets under high frequency excitation are analyzed. Results show that the highest admittance is in the axial ( i.e. , lateral) direction of wheelset spoke, and the main way to reduce the high frequency vibrations is to reduce the wheelset spoke lateral admittance. Reducing wheel vibrations can be accomplished by adjusting the wheelset stiffness distribution, making full use of the admittance phase, and modifying the wheel rail contact characteristics.
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A new model about the influence of the administrative admittance on the fluctuation of the infrastructure is developed in this paper.This paper claims that the departments concerned have to exam and prove the admittance because of the objective of organization,incentive and regulation,information.The risk administration is simplified characterized in this article.A model is constructed about how the administrative admittance influences the supply fluctuation of the infrastructure.Based on this paradigm,two extended cases are analysed.These models reveal that the administrative admittance is an important factor which influences the supply fluctuation of the infrastructure and the administrative admittance reproduces itself.According to the conclusion,this article puts forward a set of policy to improve the supplies of the infrastructure industry.
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An approximate formula is presented for the admittance of a cylindricul antenna where the length is large and the diameter is small compared with the excited wavelength. A comparison of admittance results obtained from this formula is made with the more accurate results of Hurd and Wu.
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This chapter contains sections titled:
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Admittance Diagrams
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Input Admittance Loci
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The Relay Admittance Characteristic
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Parallel Transmission Lines
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Typical Admittance Plane Characteristics
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Summary of Admittance Characteristics
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Problems
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