Application of “human-in-the-loop” control to a biped walking-chair robot

摘要

This paper presents the research on stability for biped walking-chair robot with human-in-the-loop. The inherent properties of the biped system which is developed for the disable people to replace traditional wheelchairs are analyzed. Control of the robot for the gait and navigation is introduced. Posture stability computation method based on ZMP (zero moment point) theory is discussed. Some suggestions about the future research are also presented.