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A novel motion control algorithm was introduced to achieve dance between a man and a passive type robot (PDR), which can not move by itself, but can guarantee higher level of safety in the process of human-robot cooperation. Firstly, the characteristics of servo brake were analyzed, and the motion was divided into 8 states according to the kinematic model and control constraint condition. Then feasible...
This paper introduces a passive dance partner robot for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, the passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. We also propose a control architecture referred to as CAST (Control Architecture for...
In this paper, we introduce a passive mobile robot with casters developed based on the concept of passive robotics. This mobile robot consists of two casters with servo brakes, one passive rigid wheel and a controller. We can manipulate the robot by controlling external force/moment applied by a human based on the control of the servo brakes attached to the casters. We consider the characteristics...
In this paper, we propose an intelligent cane developed based on passive robotics concept for supporting the elderly and the disabled persons who have difficulty walking. The intelligent passive cane (IP Cane) is controlled by servo brakes attached to the wheels and intrinsically safe for humans, because it cannot move unintentionally, i.e., it has no driving actuators. In addition, the IP cane provides...
This paper proposes a motion control algorithm for an active type of robotic mobility aid based on passive behavior concept. Passive behavior is an important characteristic of a system that provides mobility to elderly or person with walking disability. It allows the user to control the system based on intention. Passive behavior is implemented using imposed desired dynamics, which represents the...
In this paper, we propose a concept on realizing impedance-based motion control of passive type robots for transporting a single object in coordination with a human operator. In this research, we developed a prototype of passive type robot referred to as passive robot porter or PRP, which consists of three omni-directional wheels with MR Brakes, and on-board computer system. We analyze the singularity...
In this paper, we propose a concept of a passive type robot for transporting a single object in coordination with a human operator. We developed a prototype of passive type robot referred to as RT Porter, which consists of support frame, three omni-directional wheels with MR brakes, and onboard computer system. In this research, we control the brake torque of each wheel based on the brake force/moment...
This paper presents an approach in assisting a sit-to-stand movement using a robotic walking support system. In general, robotic walking support system is used to provide walking stability. We will extend its function to assist a user in executing a sit-to-stand movement. The first approach would be called passive support. In this approach, the support system would be stationary as the user execute...
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