SpiderBot™ : A New Silver Robot Platform for the Elderly and the Handicapped
SpiderBot™ : A New Silver Robot Platform for the Elderly and the Handicapped
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This paper presents a new silver robot platform, SpiderBot™. The assistance scenario and conceptual design of the Spider Bot™ for better performance compared to the conventional mobile silver robots are discussed. The conceptual design is addressed considering real residence environment, human friendliness, and user convenience. The design is divided into mechanical parts, control parts, driving parts, sensor parts, and end-effectors. Loading condition and loading scenario for various assistance modes are briefly investigated to meet various requirements for the elderly and the handicapped. The dynamic model of the robot, adaptive control was simulated to verify the feasibility of the SpiderBot™ platform.
Abstract<BR>Ⅰ. INTRODUCTION<BR>Ⅱ. BASIC CONFIGURATION AND ASSISTANCE SCENARIOS<BR>Ⅲ. DESIGN CONSIDERATIONS<BR>Ⅳ. CONCEPTUAL DESIGN<BR>Ⅴ. LOAD CONDITIONS<BR>Ⅵ. DYNAMIC MODEL<BR>Ⅶ. WIRE TENSION SIMULATION<BR>Ⅷ. ADAPTIVE CONTROLLER<BR>Ⅸ. CONCLUSIONS AND FUTURE WORK<BR>ACKNOWLEDGEMENTS<BR>REFERENCES<BR>
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