Algorithm for Estimating Riding Position and Volition in Health-care Riding Robots

승마용 헬스케어 로봇의 승마 자세 판단 및 의지추론 알고리즘 개발에 관한 연구

We develope a riding robot system named as "RideBot" for health-care and entertainments. An algorithm for estimating riding position and volition is proposed by using bio-signals. We analyze the riding position and volition in real-horse riding environments and build up the database. With this database and sensor informations, standard positions are made. For the volition estimation, we use the acceleration and deceleration sensor information and bridle information for direction change. We propose a hybrid control algorithm in which discrete-state and continuous-state controls are combined. The efficiency of the proposed algorithm is evaluated thru various experiments.