Autonomous following method of intelligent assistance walking robot based on large-scale piezoresistive films

Feng Wei, Zhaohui Luo, Bo Wang, Dongnan Su, Jipeng Wu, Peng Shang

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

Autonomous following is one of the critical issues in assistance walking robotics. In particular, it is a promising solution to help elders in everyday life. In this paper, we propose a method that combines large-scale piezoresistive films, wireless communication techniques, intelligent assistance walking robots and pressure image recognition to identify, track and follow the target person in dynamic environments. First, pressure image data acquisition devices are developed to obtain the object pressure distribution by measuring the voltage changes caused by the applied pressure on the piezoresistive films. Subsequently, host computer is developed to receive the pressure distribution image data from the designed signal acquisition devices through the serial port, and a statistical-based pressure distribution image recognition method is proposed to distinguish between robot and target person and to obtain the positions of robot and target person. Eventually, the host computer sends a command to assistance the walking robotics control system by wireless communication devices to achieve dynamic track and follow the target person. To validate the performance of the proposed method, a series of person following experiments are carried out. The experimental results show that the proposed algorithm effectively follows the target person.

源语言英语
主期刊名2022 IEEE International Conference on Industrial Technology, ICIT 2022
出版商Institute of Electrical and Electronics Engineers Inc.
ISBN(电子版)9781728119489
DOI
出版状态已出版 - 2022
已对外发布
活动2022 IEEE International Conference on Industrial Technology, ICIT 2022 - Shanghai, 中国
期限: 22 8月 202225 8月 2022

出版系列

姓名Proceedings of the IEEE International Conference on Industrial Technology
2022-August

会议

会议2022 IEEE International Conference on Industrial Technology, ICIT 2022
国家/地区中国
Shanghai
时期22/08/2225/08/22

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