Zhao, Huihua and Horn, Jonathan and Reher, Jacob and Paredes, Victor and Ames, Aaron D. (2015) A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses. In: 2015 54th IEEE Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 1607-1612. ISBN 978-1-4799-7886-1. https://resolver.caltech.edu/CaltechAUTHORS:20190208-092409166
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Abstract
This 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.
| Item Type: | Book Section | |||||||||
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| Additional Information: | © 2015 IEEE. NSF CAREER Award CNS-0953823. This research has approval from the Institutional Review Board with IRB2014-0382F for testing with human. | |||||||||
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| DOI: | 10.1109/CDC.2015.7402440 | |||||||||
| Record Number: | CaltechAUTHORS:20190208-092409166 | |||||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20190208-092409166 | |||||||||
| Official Citation: | H. Zhao, J. Horn, J. Reher, V. Paredes and A. D. Ames, "A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses," 2015 54th IEEE Conference on Decision and Control (CDC), Osaka, 2015, pp. 1607-1612. doi: 10.1109/CDC.2015.7402440 | |||||||||
| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | |||||||||
| ID Code: | 92786 | |||||||||
| Collection: | CaltechAUTHORS | |||||||||
| Deposited By: | Tony Diaz | |||||||||
| Deposited On: | 08 Feb 2019 17:34 | |||||||||
| Last Modified: | 16 Nov 2021 03:53 |
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