Toyota Motor Engineering & Manufacturing North America; Inc.
发明人:
Yasuhiro Ota,Masaru Ryumae,Keiichi Sato,Shin Sano
申请号：
US13644392
公开号：
US08925563B2
申请日:
2012.10.04
申请国别(地区):
US
年份:
2015
代理人:
摘要：
A robotic cane may include a grip handle, a cane body extending from the grip handle at a first end, a motorized omni-directional wheel coupled to a second end of the cane body, a balance control sensor, and a controller module. The balance control sensor provides a balance signal corresponding to an orientation of the robotic cane. The controller module may receive the balance signal from the balance control sensor and calculate a balancing velocity of the motorized omni-directional wheel based at least in part on the balance signal and an inverted pendulum control algorithm. The controller module may further provide a drive signal to the motorized omni-directional wheel in accordance with the calculated balancing velocity. The calculated balancing velocity is a speed and direction of the motorized omni-directional wheel to retain the robotic cane in an substantially upright position.
