Socially-Acceptable Walking Parameters for Wheelchair Automation
Sean Wong Jun Zhong, Lee Wai Leong, Marcelo H. Ang · 2019
Socially-acceptable navigation patterns are key to smoothly integrating robots into human daily life. This paper addresses such issues without attempting to use complex algorithms that are difficult to support with low-level controllers. Through observational data collection, this paper finds average walking patterns that can be adhered to by rough guidelines that provide significant tolerances for low-level robots in varying situations. These guidelines can be applied to many different robotic systems but are intended for use with the WHILL Model C wheelchair, where parameter data has been collected to ensure compatibility. Finally, the concept of rider comfort has been briefly accounted briefly accounted for when adjusting the robot's parameters.