Fuzzy power assist control system for omni-directional transport wheelchair

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Volumn 2, Issue , 2004, Pages 1580-1585

  Kitagawa, Hideo ^a   Nishigaki, T ^b   Miyoshi, T ^b   Terashima, K ^b  

^a GIFU NATIONAL COLLEGE OF TECHNOLOGY   (Japan)

^b TOYOHASHI UNIVERSITY OF TECHNOLOGY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ARTIFICIAL INTELLIGENCE; COMPUTER SIMULATION; FUZZY SETS; MOTION CONTROL; ROBOTICS; ROLLERS (MACHINE COMPONENTS); VEHICLE WHEELS; WHEELCHAIRS;

FUZZY REASONING; LAG CONTROLLERS; OMNI-DIRECTION TRANSPORT WHEELCHAIRS; POWER ASSIST SYSTEMS;

CONTROL SYSTEMS;

EID: 14044254229     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

1. M. West and H. Asada, "Design of a holonomic omnidirectional vehicle", Proc. IEEE Int. Conf. Robot. Automat., 1992, pp.97-103.
2. F. G. Pin and S. M. Killough, "A new family of omni-directional and holonomic wheeled platforms for mobile robots", IEEE Trans. Robot. Automat., vol.10, 1994, pp.480-489.
3. M. Wada and H. Asada, "Design and Control of a Variable Footprint Mechanism for Holonomic Omnidirectional Vehicles and its Application to Wheelchairs", Proc. IEEE Trans. Robot. Automat., vol.15, no.6, 1999, pp.978-989.
4. H. Kitagawa, T. Kobayashi, T. Beppu and K. Terashima, "Semi-Autonomous Obstacle Avoidance of Omnidirectional Wheelchair by Joystick Impedance Control", Proc. IEEE/RSJ Int. Symp. on Intelligent Robots and Systems, 2001, pp.2148-2153.
5. H. Kitagawa, T. Beppu, T. Kobayashi, K. Terashima, "Motion Control of Omnidirectional Wheelchair considering Patient Comfort", Proc. IFAC World Congress, 2002, T-Tu-E20.
6. H. Maeda, S. Fujiwara, H. Kitano and H. Yamashita, "Development of Omni-Directional Cart with Power Assist System (in Japanese)", Proc. 18th Annual Conf. of Robotics Society of Japan, 2000, pp.1155-1156.