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

Name: 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.

İsim	Variable ankle stiffness improves balance control: experiments on a bipedal exoskeleton
Yazar	Uğurlu, Regaip Barkan, Doppmann, C., Hamaya, M., Forni, P., Teramae, T., Noda, T., Morimoto, J.
Basım Tarihi:	2016-02
Basım Yeri	- IEEE
Konu	Actuators, Humanoid robots, Legged locomotion, Motion control, Position control
Tür	Süreli Yayın
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	1083-4435
Kayıt Numarası	113136e6-5c8a-4c22-adf4-b492a19b1e5d
Lokasyon	Mechanical Engineering
Tarih	2016-02
Notlar	Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Örnek Metin	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

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

Basım Tarihi 2016-02

Basım Yeri - IEEE

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

Tür Süreli Yayın

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 1083-4435

Kayıt Numarası 113136e6-5c8a-4c22-adf4-b492a19b1e5d

Lokasyon Mechanical Engineering

Tarih 2016-02

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

Örnek Metin 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