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A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses

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
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/CDC.2015.7402440DOIArticle
https://youtu.be/K6mKYrVYVwERelated ItemVideo
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
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.
Funders:
Funding AgencyGrant Number
NSFCNS-0953823
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:03 Oct 2019 20:48

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