• Login
    View Item 
    •   SMARTech Home
    • Institute for Robotics and Intelligent Machines (IRIM)
    • IRIM Articles and Papers
    • Advanced Mechanical Bipedal Experimental Robotics Lab (AMBER)
    • View Item
    •   SMARTech Home
    • Institute for Robotics and Intelligent Machines (IRIM)
    • IRIM Articles and Papers
    • Advanced Mechanical Bipedal Experimental Robotics Lab (AMBER)
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    First Steps Toward Translating Robotic Walking To Prostheses: A Nonlinear Optimization Based Control Approach

    Thumbnail
    View/Open
    autorobots_specialissue.pdf (4.031Mb)
    Date
    2016
    Author
    Zhao, Huihua
    Horn, Jonathan
    Reher, Jacob
    Paredes, Victor
    Ames, Aaron D.
    Metadata
    Show full item record
    Abstract
    This paper presents the first steps toward successfully translating nonlinear real-time optimization based controllers from bipedal walking robots to a self-contained powered transfemoral prosthesis: AMPRO, with the goal of improving both the tracking performance and the energy efficiency of prostheses control. To achieve this goal, a novel optimal control strategy combining control Lyapunov function (CLF) based quadratic programs (QP) with impedance control is proposed. This optimal controller is first verified on a human-like bipedal robot platform, AMBER. The results indicate improved (compared to variable impedance control) tracking performance, stability and robustness to unknown disturbances. To translate this complete methodology to a prosthetic device with an amputee, we begin by collecting reference human locomotion data via Inertial measurement Units (IMUs). This data forms the basis for an optimization problem that generates virtual constraints, i.e., parameterized trajectories, specifically for the amputee and the prosthesis. A online optimization based controller is utilized to optimally track the resulting desired trajectories. The parameterization of the trajectories is determined through a combination of on-board sensing on the prosthesis together with IMU data, thereby coupling the actions of the user with the controller. Importantly, the proposed control law displays remarkable tracking and improved energy efficiency, outperforming PD and impedance control strategies. This is demonstrated experimentally on the prosthesis AMPRO through the implementation of the holistic sensing, algorithm and control framework, with the end result being stable prosthetic walking by an amputee.
    URI
    http://hdl.handle.net/1853/55693
    Collections
    • Advanced Mechanical Bipedal Experimental Robotics Lab (AMBER) Publications [17]
    • Advanced Mechanical Bipedal Experimental Robotics Lab (AMBER) [17]

    Browse

    All of SMARTechCommunities & CollectionsDatesAuthorsTitlesSubjectsTypesThis CollectionDatesAuthorsTitlesSubjectsTypes

    My SMARTech

    Login

    Statistics

    View Usage StatisticsView Google Analytics Statistics
    • About
    • Terms of Use
    • Contact Us
    • Emergency Information
    • Legal & Privacy Information
    • Accessibility
    • Accountability
    • Accreditation
    • Employment
    • Login
    Georgia Tech

    © Georgia Institute of Technology

    • About
    • Terms of Use
    • Contact Us
    • Emergency Information
    • Legal & Privacy Information
    • Accessibility
    • Accountability
    • Accreditation
    • Employment
    • Login
    Georgia Tech

    © Georgia Institute of Technology