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Variable ankle stiffness improves balance control: experiments on a bipedal exoskeleton

Title	Variable ankle stiffness improves balance control: experiments on a bipedal exoskeleton
Author	Uğurlu, Regaip Barkan, Doppmann, C., Hamaya, M., Forni, P., Teramae, T., Noda, T., Morimoto, J.
Publication Date:	2016-02
Publication Place	- IEEE
Subject	Actuators, Humanoid robots, Legged locomotion, Motion control, Position control
Type	Periodical
Language	English
Digital	Yes
Manuscript	No
Library:	Özyeğin University
Library Asset ID	1083-4435
Record ID	113136e6-5c8a-4c22-adf4-b492a19b1e5d
Library Location	Mechanical Engineering
Date	2016-02
Notes	Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Sample Text	This paper proposes a real-time balance control technique that can be implemented to bipedal robots (exoskeletons, humanoids) whose ankle joints are powered via variable physical stiffness actuators. To achieve active balancing, an abstracted biped model, torsional spring-loaded flywheel, is utilized to capture approximated angular momentum and physical stiffness, which are of importance in postural balancing. In particular, this model enables us to describe the mathematical relation between zero moment point (ZMP) and physical stiffness. The exploitation of variable physical stiffness leads to the following contributions: 1) Variable physical stiffness property is embodied in a legged robot control task, for the first time in the literature to the authors' knowledge. 2) Through experimental studies conducted with our bipedal exoskeleton, the advantages of variable physical stiffness strategy are demonstrated with respect to the optimal constant stiffness strategy. The results indicate that the variable stiffness strategy provides more favorable results in terms of external disturbance dissipation, mechanical power reduction, and ZMP/center of mass position regulation.
DOI	10.1109/TMECH.2015.2448932
Cilt	21

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Variable ankle stiffness improves balance control: experiments on a bipedal exoskeleton

Author Uğurlu, Regaip Barkan, Doppmann, C., Hamaya, M., Forni, P., Teramae, T., Noda, T., Morimoto, J.

Publication Date 2016-02

Publication Place - IEEE

Subject Actuators, Humanoid robots, Legged locomotion, Motion control, Position control

Type Periodical

Language English

Digital Yes

Manuscript No

Library Özyeğin University

Library Asset ID 1083-4435

Record ID 113136e6-5c8a-4c22-adf4-b492a19b1e5d

Library Location Mechanical Engineering

Date 2016-02

Notes Due to copyright restrictions, the access to the full text of this article is only available via subscription.

Sample Text This paper proposes a real-time balance control technique that can be implemented to bipedal robots (exoskeletons, humanoids) whose ankle joints are powered via variable physical stiffness actuators. To achieve active balancing, an abstracted biped model, torsional spring-loaded flywheel, is utilized to capture approximated angular momentum and physical stiffness, which are of importance in postural balancing. In particular, this model enables us to describe the mathematical relation between zero moment point (ZMP) and physical stiffness. The exploitation of variable physical stiffness leads to the following contributions: 1) Variable physical stiffness property is embodied in a legged robot control task, for the first time in the literature to the authors' knowledge. 2) Through experimental studies conducted with our bipedal exoskeleton, the advantages of variable physical stiffness strategy are demonstrated with respect to the optimal constant stiffness strategy. The results indicate that the variable stiffness strategy provides more favorable results in terms of external disturbance dissipation, mechanical power reduction, and ZMP/center of mass position regulation.

DOI 10.1109/TMECH.2015.2448932

Cilt 21