A New Directional-Intent Recognition Method for Walking Training Using an Omnidirectional Robot
نویسندگان
چکیده
منابع مشابه
Path Following and Velocity Optimizing for an Omnidirectional Mobile Robot
In this paper, the path following controller of an omnidirectional mobile robot (OMR) has been extended in such a way that the forward velocity has been optimized and the actuator velocity constraints have been taken into account. Both have been attained through the proposed model predictive control (MPC) framework. The forward velocity has been included into the objective function, while the a...
متن کاملIntent Recognition for Human-Robot Interaction
Effective human-robot cooperation requires robotic devices that understand human goals and intentions. We frame the problem of intent recognition as one of tracking and predicting human actions within the context of plan task sequences. A hybrid mode estimation approach, which estimates both discrete operating modes and continuous state, is used to accomplish this tracking based on possibly noi...
متن کاملOmnidirectional Walking and Active Balance for Soccer Humanoid Robot
Soccer Humanoid robots must be able to fulfill their tasks in a highly dynamic soccer field, which requires highly responsive and dynamic locomotion. It is very difficult to keep humanoids balance during walking. The position of the Zero Moment Point (ZMP) is widely used for dynamic stability measurement in biped locomotion. In this paper, we present an omnidirectional walk engine, which mainly...
متن کاملFuzzy Omnidirectional Walking Controller for the Humanoid Soccer Robot
Fast and flexible walking is necessary for humanoid robots in the Robocup soccer competition. We propose a new fuzzy-logic control scheme that would enable the robot to realize flexible walking with high standard of stability by restricting the step length and inclining the body of robot to an appropriate logic body control scheme uses the desired walking direction and rotating angle as an inpu...
متن کاملa new type-ii fuzzy logic based controller for non-linear dynamical systems with application to 3-psp parallel robot
abstract type-ii fuzzy logic has shown its superiority over traditional fuzzy logic when dealing with uncertainty. type-ii fuzzy logic controllers are however newer and more promising approaches that have been recently applied to various fields due to their significant contribution especially when the noise (as an important instance of uncertainty) emerges. during the design of type- i fuz...
15 صفحه اولذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Intelligent & Robotic Systems
سال: 2017
ISSN: 0921-0296,1573-0409
DOI: 10.1007/s10846-017-0503-z