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Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control

Zhao, Huihua and Reher, Jake and Horn, Jonathan and Paredes, Victor and Ames, Aaron D. (2015) Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control. In: Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control. ACM , New York, NY, pp. 305-306. ISBN 9781450334334. https://resolver.caltech.edu/CaltechAUTHORS:20190722-155959429

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Abstract

This demonstration presents an unimpaired subject walking with a custom built self-contained powered transfemoral prosthesis: AMPRO, which is controlled by a novel nonlinear real-time optimization based controller. To achieve the behaviors that will be demonstrated, controllers that have been successfully implemented on bipedal walking robots are translated to the prosthesis with the goal of achieving natural human-like walking while minimizing power consumption. To achieve this goal, 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 for the prosthesis that provably yields walking in simulation. Utilizing methods that have proven successful in generating stable robotic locomotion, control Lyapunov function (CLF) based Quadratic Programs (QPs) are 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. Finally, impedance control is integrated into the QP yielding an optimization based control law that displays remarkable tracking and robustness, outperforming traditional PD and impedance control strategies.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1145/2728606.2728638DOIConference Paper
https://dl.acm.org/citation.cfm?id=2728606&picked=proxPublisherConference Proceedings
http://ljk.imag.fr/hscc2015/index.htmlUNSPECIFIEDConference Site
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2015 by the owner/author(s).
Record Number:CaltechAUTHORS:20190722-155959429
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190722-155959429
Official Citation:Huihua Zhao, Jake Reher, Jonathan Horn, Victor Paredes, and Aaron D. Ames. 2015. Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control. In Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control (HSCC '15). ACM, New York, NY, USA, 305-306. DOI: http://dx.doi.org/10.1145/2728606.2728638
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:97334
Collection:CaltechAUTHORS
Deposited By: Melissa Ray
Deposited On:22 Jul 2019 23:23
Last Modified:03 Oct 2019 21:30

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