Hierarchical Shared Control of Cane-Type Walking-Aid Robot

Algorithm 1

Hierarchical Shared Control.

In:

Out:

1: while there is no emergency accidents do

2:  Determine the position of the obstacles by

3:  if the obstacle is detected in the Free Layer then

4:   Calculate by (8).

5:   The robot moves at V(k)

6:   The robot is controlled by the operator

7:  else if the obstacles is detected in the Repulsion Interference Layer then

8:   Calculate by (13)

9:   

10:  Calculate by (8).

11:   The robot moves at V(k)

12:   The robot and the operator share the controller

13:  else if the obstacles is detected the Emergency Layer then

14:   if (Backward) then

15:    Calculate by (8).

16:    The robot moves back at V(k)

17:   else

18:    if there is enough spaces around to avoid obstacles then

19:     

20:     Calculate by (13)

21:     

22:     Calculate by (8).

23:     The robot moves at V(k) applied with the Admittance Control and the Artificial Potential Field method.

24:    else if the obstacles on the right side are less than ones on the left side then

25:     

26:     The robot moves to the right at a certain speed.

27:    else if the obstacles on the right side are less than ones on the left side then

28:     

29:     The robot moves to the left at a certain speed.

30:    else if there are enmergecy cases or there is no space for avoiding the obstacles then

31:     

32:     The robot stops immediately.

33:    end if

34:   end if

35:  end if

36: end while