Completed hardware design and controller of the robotic cane using the inverted pendulum for walking assistance

摘要

In this paper, we propose a completed hardware design for the robotic cane, which was only demonstrated by simulation in [1], and stops as an idea in [2]. Besides, the controller of the robotic cane is verified by good experiment results like very small variations of the angle of the robotic cane, the robotic cane can stand in balance without any external forces, and it responds fast to external forces from users to return the balance point. To design the controller, the Lie Algebra (LA) method is used to linearize the nonlinear system of the inverted pendulum and find the control parameters. Besides, the Linear Quadratic Regulator (LQR) method is applied to the robotic cane to prove that the performance of LA method is better.