PittsburghV1, Main, Exploration, bibRecord, 000012

First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Controlof Exoskeletons

Identifieur interne : 000012 ( Main/Exploration ); précédent : 000011; suivant : 000013

First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Controlof Exoskeletons

Auteurs : Ayush Agrawal [États-Unis] ; Omar Harib [États-Unis] ; Ayonga Hereid [États-Unis] ; Sylvain Finet [France] ; Mathieu Masselin [France] ; Laurent Praly [France] ; Aaron Ames [États-Unis] ; Koushil Sreenath [États-Unis] ; Jessy Grizzle [États-Unis]

Source :

RBID : Hal:hal-01544572

English descriptors

mix :
- control design, robot control, Exoskeletons.

Abstract

This paper presents preliminary results toward translating gait and control design for bipedal robots to decentralized control of an exoskeleton aimed at restoring mobility to patients with lower limb paralysis, without the need for crutches. A mathematical hybrid dynamical model of the human-exoskeleton system is developed and a library of dynamically feasible periodic walking gaits for different walking speeds is found through nonlinear constrained optimization using the full-order dynamical system. These walking gaits are stabilized using a centralized (i.e., full-state information) hybrid zero dynamics-based controller, which is then decentralized (i.e., control actions use partial state information) so as to be implementable on the exoskeleton subsystem. A control architecture is then developed so as to allow the user to actively control the exoskeleton speed through his/her upper body posture. Numerical simulations are carried out to compare the two controllers. It is found that the proposed decentralized controller not only preserves the periodic walking gaits but also inherits the robustness to perturbations present in the centralized controller. Moreover, the proposed velocity regulation scheme is able to reach a steady state and track desired walking speeds under both, centralized, and decentralized schemes.

Url:

https://hal-mines-paristech.archives-ouvertes.fr/hal-01544572

DOI: 10.1109/ACCESS.2017.2690407

Affiliations:

France, États-Unis

Links toward previous steps (curation, corpus...)

to stream Hal, to step Corpus: 000283
to stream Hal, to step Curation: 000283
to stream Hal, to step Checkpoint: 000012
to stream Main, to step Merge: 000012
to stream Main, to step Curation: 000012

Le document en format XML

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<front><div type="abstract" xml:lang="en">This paper presents preliminary results toward translating gait and control design for bipedal robots to decentralized control of an exoskeleton aimed at restoring mobility to patients with lower limb paralysis, without the need for crutches. A mathematical hybrid dynamical model of the human-exoskeleton system is developed and a library of dynamically feasible periodic walking gaits for different walking speeds is found through nonlinear constrained optimization using the full-order dynamical system. These walking gaits are stabilized using a centralized (i.e., full-state information) hybrid zero dynamics-based controller, which is then decentralized (i.e., control actions use partial state information) so as to be implementable on the exoskeleton subsystem. A control architecture is then developed so as to allow the user to actively control the exoskeleton speed through his/her upper body posture. Numerical simulations are carried out to compare the two controllers. It is found that the proposed decentralized controller not only preserves the periodic walking gaits but also inherits the robustness to perturbations present in the centralized controller. Moreover, the proposed velocity regulation scheme is able to reach a steady state and track desired walking speeds under both, centralized, and decentralized schemes.</div>
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   |texte=   First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Controlof Exoskeletons
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Serveur d'exploration sur Pittsburgh

First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Controlof Exoskeletons

First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Controlof Exoskeletons

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Abstract

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