Skill Assist Neuro-Fuzzy Control of Omni-directional Wheelchair for Attendants Considering Rotation Center of Vehicle

Terashima, Kazuhiko; Watanabe, Kaoru; Kondo, Yasumasa; Miyoshi, Takanori; Urbano, Juan; Kitamura, Sou; Kitagawa, Hideo

doi:10.3182/20080706-5-kr-1001.02555

IFAC Proceedings Volumes

2008

DOI: 10.3182/20080706-5-kr-1001.02555

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Skill Assist Neuro-Fuzzy Control of Omni-directional Wheelchair for Attendants Considering Rotation Center of Vehicle

Kazuhiko Terashima

Kaoru Watanabe

Yasumasa Kondo

et al.

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2009

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Design of Autonomous/Man-Machine-Cooperative Mobile Robot

Inagaki¹,

Suzuki²,

Ito³

et al. 2009

J. Robot. Mechatron.

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The control methodology we propose for a nonholonomic electric two-wheeled vehicle combines autonomous control and man-machine-cooperative control. “Autonomous control” is designed using time-state control to reduce vehicle deviation from a guidance line. “Man-machine-cooperative control” is designed using impedance control to generate power to assist user maneuvers. Experiments demonstrate the usefulness of our proposed design.

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Design of Autonomous/Man-Machine-Cooperative Mobile Robot

Inagaki¹,

Suzuki²,

Ito³

et al. 2009

J. Robot. Mechatron.

View full text Add to dashboard Cite

show abstract

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Skill Assist Neuro-Fuzzy Control of Omni-directional Wheelchair for Attendants Considering Rotation Center of Vehicle

Cited by 1 publication

References 8 publications

Design of Autonomous/Man-Machine-Cooperative Mobile Robot

Design of Autonomous/Man-Machine-Cooperative Mobile Robot

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