Dynamic Model and Control of a Walking Stick Robot

摘要

All countries in the world today have different degrees of aging. In order to help the elderly to walk properly, based on the analysis about the common walking stick, this paper have developed a smart walking stick robot which meets the walking habits of the elderly. The walking stick's use process is divided into supporting state and non-support state. By analyzing the variation of force, moment and angle between users and common walking stick under two conditions, the walking stick's mathematical model is established. By analyzing the structure and movement process of the walking stick robot, a dynamic model of the robot is established. At the same time, the admittance control model is used to satisfy the suppleness of the force by controlling the chassis motion of the robot. The final design experiment verified the validity of the walking stick model and the adequacy of admittance control.