Development of a Wire-Towed Motorized Cart with Zero-Tension Perception

Abstract

This study proposes a control system for a motorized cart that follows a user via wire manipulation, aiming to achieve natural following behavior with zero-tension perception. In conventional wire-based following systems, the cart is controlled by detecting the extension or retraction of the wire, which inevitably causes the user to perceive tension. In contrast, the proposed system utilizes a camera mounted on the cart to detect the angle and motion of the wire. By implementing a predictive control algorithm that drives the cart before the user perceives tension, the system aims to realize smooth following behavior with zero-tension experience.