Orientation compensation for initially misaligned caster wheels

Lee, Dooam; Jung, Donggeun; Woo, Kwang-Sik; Kim, Lark-Kyo; Mok, Hyung-Soo; Han, Soohee

doi:10.1007/s12555-012-9112-6

Cited by 7 publications

(3 citation statements)

References 5 publications

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“…The so called speed ratio control depicted in Fig. 10 is used with two DC motors for both drive wheels [12,13]. All components required for driving a wheelchair are depicted using the OPRoS components and the RT components in Figs.…”

Section: Methodsmentioning

confidence: 99%

An Effective Method of Sharing Heterogeneous Components of OPRoS and RTM

Salov¹,

Park²,

Han³

et al. 2014

Journal of Electrical Engineering and Technology

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-Heterogeneous components have different component models, which prevents such components from sharing the functionalities of other components based on the different models. As one of methods for linking heterogeneous components, this paper suggests a proxy component to construct a bridge between heterogeneous components of OPRoS (Open Platform for Robotic Service) and RTM (Robot Technology Middleware). The proxy component consists of two types of components called Adaptor and Interceptor, via which the heterogeneous components can exchange data and services easily. The proposed method enables adaptor and interceptor components to directly invoke the services of the latter and the former, respectively, in order to exchange data and services on a real-time basis. The proxy component can be implemented for OPRoS and RT (Robot Technology) component models to connect with RT and OPRoS ones, respectively. It is shown through a simple experiment that the proposed method works well for real-time control.

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Section: Methodsmentioning

confidence: 99%

An Effective Method of Sharing Heterogeneous Components of OPRoS and RTM

Salov¹,

Park²,

Han³

et al. 2014

Journal of Electrical Engineering and Technology

Self Cite

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“…Nevertheless, to implement an assistive control-law taking into account the caster wheel behavior, it is not feasible to consider the multiple grounds encountered during the navigation because of the complexity to characterize their properties in real-time. In [16], a compensation scheme based on odometry measurement prevents the wheelchair to drift because of misaligned caster wheels. This assistance is mostly based on odometry and, for a low-cost and pragmatic assistance solution, we aim to develop a sensorless control law.…”

Section: Introductionmentioning

confidence: 99%

Taking caster wheel behavior into account in the kinematics of powered wheelchairs

Baudry¹,

Guégan²,

Babel³

2018

MMC_C

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The driving experience of an electric powered wheelchair (EPW) can be disturbed by unpleasant dynamic and kinematic effects of the caster wheels, particularly during maneuvers in narrow rooms and direction changes. In order to minimize this nasty behavior, we propose in this article a kinematic model of the wheelchair taking into account the effects of the caster wheels. The orientation of the caster wheels has been measured for different configurations: initial orientation, wheelchair velocity and user mass. The repeatability of the motions has been studied, and from these tests, their behavior has been modelled. This model has been then used to determine the wheelchair trajectory by using a more realistic kinematic. We have thus obtained a model allowing us to calculate more precisely the spaces that can be reach by powered wheelchairs, which are useful information to enhance control laws of their driving assistances.

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“…Other works have been produced with the objective of overcoming the barriers imposed by caster wheels when trying to control the wheelchair. In Lee et al [32] the authors present an orientation compensation scheme for a wheelchair with misaligned caster wheels in order to correct driving errors due to an unbalanced load distribution. The algorithm accumulates angular differentials from the desired heading until achieving steady state driving, obtains the net rotation angle in which the wheelchair has deviated and then compensates for it by controlling the speed difference of the two driving wheels on left and right sides.…”

Section: Wheelchair Locomotion Controlmentioning

confidence: 99%

Path control strategies for robotized wheelchairs

Dantas¹

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First of all, I would like to thank my parents, Sérgio and Maria do Carmo, for the support they gave me while moving to the city of Campinas. Migrating from my city to another unknown until then was, certainly, a great opportunity to get out of my comfort zone. I would also like to thank them, including my sister, Amanda, for their immeasurable emotional support regarding professional uncertainties, the master's and academic career.In addition, I would like to thank Professor Eleri Cardozo for having accepted me as his master's student. His guidance, his ideas and his dedication were fundamental for the development of this work and for my personal and professional growth. I thank him for all the knowledge acquired, either in the classroom or during our constant meetings.To my Guatemalan co-workers Julio E. Farjado and Victor Ferman for our countless works together, for our discussions, for hanging out on the weekends and for teaching me un poquito of Spanish. To Prof. and colleague Antonio Ribas for our conversations and for his willingness to review my work. And to my colleague and friend Prof. Eric Rohmer for his invaluable contribution to the development of this work and for providing a more pleasant environment in the laboratory.And to all of those who, somehow, supported me during my stay in Campinas and contributed to the conclusion of this work.This study was financed in part by the Coordenação de Aperfeiçoamento de Pessoal de Nível Superior -Brasil (CAPES) -Finance Code 88882.329382/2019-01. AgradecimentosPrimeiramente, gostaria de agradecer aos meus pais, Sérgio e Maria do Carmo, pelo apoio que me deram na minha mudança à cidade de Campinas. Mudar-me da minha cidade para uma outra desconhecida até então foi, com certeza, uma bela oportunidade de sair da minha zona de conforto. Gostaria, também, de agradecê-los, incluindo a minha irmã, Amanda, pelo seu imensurável apoio emocional em relação às incertezas profissionais, do mestrado e da carreira acadêmica.Ademais, gostaria de agradecer ao Professor Eleri Cardozo por ter-me aceito como seu aluno de mestrado. Sua orientação, suas ideias e a sua dedicação foram fundamentais para o desenvolvimento deste trabalho e para o meu crescimento pessoal e profissional. Agradeço por todo conhecimento adquirido, seja em sala de aula, seja durante as nossas constantes reuniões.Aos meus colegas de trabalho guatemaltecos Julio E. Farjado e Victor Ferman pelos inúmeros trabalhos em conjunto, por nossas discussões, por nossas saídas nos finais de semana e por me ensinarem un poquito de espanhol. Ao Prof. e colega Antonio Ribas por nossas conversas e por sua disponibilidade aos revisar os meus trabalhos. E ao colega e amigo Prof. Eric Rohmer por sua inestimável contribuição no desenvolvimento dos trabalhos e por proporcionar um ambiente mais agradável no laboratório.E à todos aqueles que, de alguma forma, me apoiaram durante a minha estadia em Campinas e contribuíram na realização deste trabalho.O presente trabalho foi realizado com apoio da Coordenação de Aperfeiçoamento de P...

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Orientation compensation for initially misaligned caster wheels

Cited by 7 publications

References 5 publications

An Effective Method of Sharing Heterogeneous Components of OPRoS and RTM

An Effective Method of Sharing Heterogeneous Components of OPRoS and RTM

Taking caster wheel behavior into account in the kinematics of powered wheelchairs

Path control strategies for robotized wheelchairs

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