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dc.contributor.authorZhao, Huihua
dc.contributor.authorHorn, Jonathan
dc.contributor.authorReher, Jacob
dc.contributor.authorParedes, Victor
dc.contributor.authorAmes, Aaron D.
dc.date.accessioned2016-04-20T18:22:02Z
dc.date.available2016-04-20T18:22:02Z
dc.date.issued2015
dc.identifier.citationZhao, H., Horn, J., Reher, J., Paredes, V., & Ames, A. D. (2015). A Hybrid Systems and Optimization-based Control Approach to Realizing Multi-contact Locomotion on Transfemoral Prostheses. 54th IEEE Conference on Decision and Control (CDC), 2015, pp. 1607-1612.en_US
dc.identifier.isbn978-1-4799-7884-7
dc.identifier.urihttp://hdl.handle.net/1853/54753
dc.description© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.en_US
dc.descriptionDOI: 10.1109/CDC.2015.7402440
dc.description.abstractThis paper presents a systematic methodology utilizing multi-domain hybrid system models and optimization based controllers to achieve human-like multi-contact prosthetic walking experimentally on a custom-built prosthesis: AMPRO. Inspired by previous work that realized multi-contact locomotion on a bipedal robot AMBER2, a hybrid system based optimization problem is proposed leveraging the framework of multi-domain hybrid systems. Utilizing a reference human gait coupled with physical constraints, the end result of this optimization problem is stable multi-contact prosthetic gaits that can be implemented on the prostheses directly. Leveraging control methods that stabilize bipedal walking robots- control Lyapunov function based quadratic programs coupled with variable impedance control-an online optimization-based controller is formulated to realize the designed gait in both simulation and experimentally on AMPRO. Improved tracking and energy efficiency are seen when this methodology is implemented experimentally. Additionally, the resulting multi-contact prosthetic walking captures the essentials of natural human walking both kinematically and kinetically.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectBipedal walking roboten_US
dc.subjectControl Lyapunov functionen_US
dc.subjectProsthetic gaiten_US
dc.subjectQuadratic programsen_US
dc.titleA Hybrid Systems and Optimization-Based Control Approach to Realizing Multi-Contact Locomotion on Transfemoral Prosthesesen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Institute for Robotics and Intelligent Machinesen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineeringen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Mechanical Engineeringen_US
dc.contributor.corporatenameTexas A & M University. Department of Mechanical Engineeringen_US
dc.publisher.originalInstitute of Electrical and Electronics Engineers
dc.identifier.doi10.1109/CDC.2015.7402440
dc.embargo.termsnullen_US


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