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This paper proposes a new control approach for an active (motorized) robotic walking support system based on passive behavior concept. The control approach aims to enhance the interaction between the support system and the user. The passive behavior of a support system allows the user to safely interact with the system since it removes the system's(More)
Skid-steered vehicles are often used as outdoor mobile robots due to their robust mechanical structure and high maneuverability. Sliding, along with rolling, is inherent to general curvilinear motion, which makes both kinematic and dynamic modeling difficult. For the purpose of motion planning, this paper develops and experimentally verifies dynamic models(More)
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(More)
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(More)
This paper propose a new control algorithm for a robotic walking support system, which varies the kinematic structure of the system to adapt users' walking or controlling disability. Elderly who suffers from deficiencies in motor skills cannot control or steer their walkers properly. Since the applied torque is highly correlated to the heading angle of the(More)
Skid-steered vehicles are often used as outdoor mobile robots due to their robust mechanical structure and high maneuverability. Sliding along with rolling is inherent to general curvilinear motion, which makes both kinematic and dynamic modeling difficult. For the purpose of motion planning this paper develops and experimentally verifies dynamic models of(More)
Analysis of the power consumption of a robotic ground vehicle (RGV) is important for planning since it enables motion plans that do not violate the power limitations of the motors, energy efficient path planning, prediction of the ability to complete a task based upon the vehicle's current energy supply, and estimation of when the vehicle will need to(More)
This paper propose a new control algorithm for a robotic walker based on augmented variable center of rotation (COR) to adapt to user's controlling characteristics. The new CORs are taken from environment-based training. This is done by allowing the user to use the robotic walker from a start point to a goal point in a training environment and path(More)
Path planning is a method that determines a path, consecutive states, between a start state and goal state, LaValle (2006). However, in motion planning that path must be parameterized by time to create a trajectory. Consequently, not only is the path determined, but the time the vehicle moves along the path. To be successful at motion planning, a vehicle(More)
This paper proposes a control approach for an active robotic walking support system based on environment feedback. The support system is controlled using imposed apparent dynamics and its parameters are varied by the environment information. The environment information will not cause any motion but will only change the characteristics or maneuverability of(More)