Robust locomotion control of a self-balancing and underactuated bipedal exoskeleton: Task prioritization and feedback control

Name: Robust locomotion control of a self-balancing and underactuated bipedal exoskeleton: Task prioritization and feedback control
Author: Soliman, Ahmed Fahmy, Uğurlu, Regaip Barkan

İsim	Robust locomotion control of a self-balancing and underactuated bipedal exoskeleton: Task prioritization and feedback control
Yazar	Soliman, Ahmed Fahmy, Uğurlu, Regaip Barkan
Basım Tarihi:	2021-07
Basım Yeri	- IEEE
Konu	Humanoid and bipedal locomotion, Legged robots, Prosthetics and exoskeletons
Tür	Süreli Yayın
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	2377-3766
Kayıt Numarası	b11fb655-8d0a-407e-b3bc-31fc848fd930
Lokasyon	Mechanical Engineering
Tarih	2021-07
Örnek Metin	This letter presents a study to understand how an underactuated bipedal exoskeleton with an arbitrary human user can exhibit robust dynamic walking behavior despite severe parameter uncertainty and external disturbances. Unlike in the case of classical bipedal robots where each leg possesses 6 or more active joints, it is very challenging to satisfy multiple constraints simultaneously to ensure robust dynamic walking. To overcome this problem, we first propose an optimization algorithm that makes use of a prioritized stack of tasks to satisfy the constraints hierarchically. Furthermore, we synthesized a locomotion controller named ZMP impedance feedback and identified two other state-of-the-art locomotion controllers (admittance control, centroidal momentum control) all of which were built on top of the proposed task prioritization algorithm. In order to verify the validity and robustness of these controllers for a thorough benchmarking, a series of simulation experiments were conducted via MSC ADAMS in which a human-robot coupled model with a 40 kg underactuated exoskeleton and 12 distinct anthropomorphic subjects (66 similar to 102 kg) was considered. As the result, all 3 controllers showed adequate performances to address balanced locomotion behavior when used with the proposed task priority-based optimization algorithm. In addition, the proposed ZMP impedance controller showed statistically significant results, indicating its comparatively more robust feature.
DOI	10.1109/LRA.2021.3082016
Cilt	6

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Robust locomotion control of a self-balancing and underactuated bipedal exoskeleton: Task prioritization and feedback control

Yazar Soliman, Ahmed Fahmy, Uğurlu, Regaip Barkan

Basım Tarihi 2021-07

Basım Yeri - IEEE

Konu Humanoid and bipedal locomotion, Legged robots, Prosthetics and exoskeletons

Tür Süreli Yayın

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 2377-3766

Kayıt Numarası b11fb655-8d0a-407e-b3bc-31fc848fd930

Lokasyon Mechanical Engineering

Tarih 2021-07

Örnek Metin This letter presents a study to understand how an underactuated bipedal exoskeleton with an arbitrary human user can exhibit robust dynamic walking behavior despite severe parameter uncertainty and external disturbances. Unlike in the case of classical bipedal robots where each leg possesses 6 or more active joints, it is very challenging to satisfy multiple constraints simultaneously to ensure robust dynamic walking. To overcome this problem, we first propose an optimization algorithm that makes use of a prioritized stack of tasks to satisfy the constraints hierarchically. Furthermore, we synthesized a locomotion controller named ZMP impedance feedback and identified two other state-of-the-art locomotion controllers (admittance control, centroidal momentum control) all of which were built on top of the proposed task prioritization algorithm. In order to verify the validity and robustness of these controllers for a thorough benchmarking, a series of simulation experiments were conducted via MSC ADAMS in which a human-robot coupled model with a 40 kg underactuated exoskeleton and 12 distinct anthropomorphic subjects (66 similar to 102 kg) was considered. As the result, all 3 controllers showed adequate performances to address balanced locomotion behavior when used with the proposed task priority-based optimization algorithm. In addition, the proposed ZMP impedance controller showed statistically significant results, indicating its comparatively more robust feature.

DOI 10.1109/LRA.2021.3082016

Cilt 6