Development of a Human-friendly Walking Assistive Robot Vehicle: System Integration and Preliminary Stability Tests

10.6567/IFToMM.14TH.WC.OS13.118

Jorge Solis；Jose Pablo de la Rosa

Assistive robots ； Two-wheeled inverted pendulum robot ； Haptic interface

Proceedings of the 14th IFToMM World Congress

14th-4（2015 / 11 / 04）

342 - 347

英文

Up to now, the embodiment of bodily-kinaesthetic, perceptual and cognitive capabilities for assistive robots has been scarcely studied. This research aims to incorporate and develop the concept of robotic human science and to enable its application in a human-friendly robot for assistive purposes. Due to the complexity of the proposed research, in this paper the authors introduce a human-friendly walking assistive robot vehicle designed to provide physical support to the elderly, as well as describe the system integration and control implementation for ensuring the stability of the whole system. The first prototype of the proposed system is composed by a two-wheeled inverted pendulum mobile robot with on board controller, a 3-DOFs desktop haptic interface (HI), a mobile computer for force feedback processing and a wireless module for communication purposes. A set of preliminary experiments were proposed and the system's stability has been verified under static and dynamic conditions.