Intelligent Controller of Motion Assisting Robot Using Online Update of Vector Field

Guang Hui Xie; Mi Na Jin; Minoru Hashimoto; Zhi Yong Zhu

doi:10.4028/www.scientific.net/AMM.248.561

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 248Intelligent Controller of Motion Assisting Robot...

Intelligent Controller of Motion Assisting Robot Using Online Update of Vector Field

Abstract:

In order to synchronize motions between assisting robot and human, an intelligent controller using online update of vector field is proposed and applied to the research on assisting robot. Firstly, the polynomial expression approximation design is applied to endowing vector field of arbitrary attractor with self-oscillation characteristics. Secondly, input-output synchronization of the control system is realized by using online update design, and the degree of input-output synchronization can be modified by adjusting the oblivion parameter and load parameter in control system. Finally, the validity of the proposed method is examined by the simulation of motion assist system for human leg.

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Periodical:

Applied Mechanics and Materials (Volume 248)

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561-566

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.248.561

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Online since:

December 2012

Authors:

Guang Hui Xie, Mi Na Jin, Minoru Hashimoto, Zhi Yong Zhu

Keywords:

Assisting Robot, Controller, Oblivion Parameter, Vector Field, Weighted Parameter

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