2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
DOI: 10.1109/iros.2007.4399033
Full text: Download
This paper presents an analysis of a newly developed elastic path controller (EPC) that can be used in assistive devices with human operators. The technique of robust control is also utilized to determine the parameters of the EPC in order to ensure that the EPC can tolerate possible uncertainties or disturbances in the environment. The new EPC is applied to a robotic wheelchair and tested in simulation. The results demonstrate the efficacy of the EPC.