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This paper presents a robotic system with the interactive walking support assistance in a home environment. The designed system can perform user-adaptive characteristics to adapt to user's walking gait while avoiding collisions. Besides, a call-and-come service which incorporates human gesture-based command is developed so that the user convenience and human friendliness can be enhanced.
This study tackles the path tracking problem of a prototype walking-aid (WAid) robot which features the human-robot interactive navigation. A practical fuzzy controller is proposed for the path tracking control under reinforcement learning ability. The inputs to the designed fuzzy controller are the error distance and the error angle between the current and the desired position and orientation, respectively...
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