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Quadratic programming and impedance control for transfemoral prosthesis

Zhao, Huihua and Kolathaya, Shishir and Ames, Aaron D. (2014) Quadratic programming and impedance control for transfemoral prosthesis. In: 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 1341-1347. ISBN 978-1-4799-3685-4. https://resolver.caltech.edu/CaltechAUTHORS:20190213-074209852

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Abstract

This paper presents a novel optimal control strategy combining control Lyapunov function (CLF) based quadratic programs with impedance control, with the goal of improving both tracking performance and the stability of controllers implemented on transfemoral prosthesis. CLF based quadratic programs have the inherent capacity to optimally track a desired trajectory. This property is used in congruence with impedance control - implemented as a feedforward term - to realize significantly small tracking errors, while simultaneously yielding bipedal walking that is both stable and robust to disturbances. Moreover, instead of experimentally validating this on human subjects, a virtual prosthesis is attached to a robotic testbed, AMBER. The authors claim that the walking of AMBER is human like and therefore form a suitable substitute to human subjects on which a prosthetic control can be tested. Based on this idea, the proposed controller was first verified in simulation, then tested on the physical robot AMBER. The results indicate improved tracking performance, stability, and robustness to unknown disturbances.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ICRA.2014.6907026DOIArticle
ORCID:
AuthorORCID
Kolathaya, Shishir0000-0001-8689-2318
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2014 IEEE. This research is supported by NASA grant NNX11AN06H, NSF grants CNS-0953823 and CNS-1136104.
Funders:
Funding AgencyGrant Number
NASANNX11AN06H
NSFCNS-0953823
NSFCNS-1136104
Record Number:CaltechAUTHORS:20190213-074209852
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190213-074209852
Official Citation:H. Zhao, S. Kolathaya and A. D. Ames, "Quadratic programming and impedance control for transfemoral prosthesis," 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014, pp. 1341-1347. doi: 10.1109/ICRA.2014.6907026
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92865
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:13 Feb 2019 19:06
Last Modified:03 Oct 2019 20:49

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