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Conference Paper
안내견 로봇의 수동 조작 모드를 위한 CIPM 기반 적응형 몸통 위치 생성기 개발
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- Issue Date
- 2024-06
- Citation
- 대한전자공학회 학술 대회 (하계) 2024, pp.3333-3336
- Publisher
- 대한전자공학회
- Language
- Korean
- Type
- Conference Paper
- Abstract
- The number of guide dogs is insufficient compared to the demand for them to help the visually impaired. To solve this problem, research is being actively conducted on using robots to perform the role of guide dogs. In this study, we develop an adaptive body position generator for human handling mode to address the performance degradation of position generators for body control when operating in different modes. By applying the Cart Inverted Pendulum Model (CIPM), the robot adjusts its motion according to the changing orientation detected by the IMU. The experimental results demonstrate the capability of this system to enhance the mobility for blind people, suggesting a significant improvement in robotic guide systems that are intuitive and responsive.
- KSP Keywords
- Body position, Different modes, Inverted pendulum model, Visually Impaired, blind people, performance degradation, robotic guide