Intention Identification Based On Force Sensor And Motion Control System Design For Walker Aid Robots

With the development of service robotics, robots enter various fields to help people. So their tasks become more complex and need to be done with greater accuracy, applications environment is from indoor to outdoor, and the requirements for real time ability and reliability become stricter. In order to adapt to this trend, at present, design of robotic system is built on artificial intelligence control. This article will illustrate an interface of robots behavior and a design of on-board motion control system for service robots, which is used in walker aid robotic based on fuzzy logic control.First, according to the requirements for the service robotic system, the robotic sense identification interface is designed based on the force sensor; the mechanism of robotic motion system is built; the actuators are chosen. Then the circuit and program of on-board motion control system are designed according to the needs, including signal amplifier circuit, chief MCU circuit and motor control circuit. Finally, the whole system is controlled based on fuzzy logic control.Robots based on fuzzy logic control do not only possess intelligence, but also have good real time ability. On-board motion control system can implement reactive behaviors, and can effectively control the walker aid motor motion. Also it can send the sensor data to the upper system for signal analysis. The on-board motion control system is a reliable motion platform for the mobile robotic research in my lab.