このエントリーをはてなブックマークに追加
ID 48702
本文ファイル
著者
Kokubo, Haruna
Shibanoki, Taro
Chin, Takaaki
Tsuji, Toshio 大学院工学研究科 広大研究者総覧
キーワード
obstacle avoidance
non-contact impedance
electric wheelchairs
people with disabilities
抄録(英)
This paper proposes an obstacle avoidance method based on a multi-layered non-contact impedance model for control of the biosignal-based electric wheelchair. The proposed system can calculate a virtual repulsive force before the collision by multi-layered impedance fields covered around it. This system therefore regulates desired path to avoid obstacles in a variety of situations. In the experiments, the mobile robot passed through obstacles smoothly, and could stop emergently to avoid the obstacle in front of the robot owing to virtual forces calculated by the proposed model.
内容記述
This work was supported by JSPS KAKENHI Grant Number JP26330226.
掲載誌名
Journal of Robotics, Networking and Artificial Life
4巻
1号
開始ページ
45
終了ページ
48
出版年月日
2017-05
出版者
Atlantis Press
ISSN
2405-9021
2352-6386
出版者DOI
言語
英語
NII資源タイプ
学術雑誌論文
広大資料タイプ
学術雑誌論文
DCMIタイプ
text
フォーマット
application/pdf
著者版フラグ
publisher
権利情報
Copyright © 2017, the Authors. Published by Atlantis Press. This is an open access article under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
関連情報URL
部局名
工学研究科