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Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion

Zhao, Huihua and Ames, Aaron D. (2014) Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion. In: 2014 American Control Conference. IEEE , Piscataway, NJ, pp. 4101-4107. ISBN 9781479932726. https://resolver.caltech.edu/CaltechAUTHORS:20190722-162619788

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Abstract

This paper utilizes a novel optimal control strategy that combines control Lyapunov function (CLF) based model independent quadratic programs with impedance control to achieve flat-ground and up-slope walking on a fully-actuated above-knee prosthesis. CLF based quadratic programs have the ability to optimally track desired trajectories; when combined with impedance control-implemented as a feed-forward term-the end result is a prosthesis controller that utilizes only local information while being robust to disturbances. This control methodology is applied to a bipedal robot with anthropomorphic parameters "wearing" a fully-actuated transfemoral prosthesis. Traditional human-inspired control methods are applied to the human component of the model-simulating nominal human walking-while the novel control method is applied to the transfemoral prosthesis. Through simulation, walking on flat-ground and up-slope is demonstrated, with the resulting gait achieved using the novel prosthesis control yielding walking that is nearly identical to the “healthy” human model. Robustness tests indicate that the prosthesis controller can endure large uncertainties and unknown disturbances.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ACC.2014.6859014DOIBook Section
https://ieeexplore.ieee.org/document/6859014PublisherBook Section
https://youtu.be/5TuTyKhMNiURelated ItemVideo
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2014 AACC. This research is supported by CPS: 1239085, SRI: W31P4Q-13-C-009, CNS: 0953823.
Funders:
Funding AgencyGrant Number
NSFCPS-1239085
Department of DefenseW31P4Q-13-C-009
NSFCNS-0953823
Subject Keywords:Optimal control, Biotechnology, Hybrid systems
Record Number:CaltechAUTHORS:20190722-162619788
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190722-162619788
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:97339
Collection:CaltechAUTHORS
Deposited By: Melissa Ray
Deposited On:22 Jul 2019 23:49
Last Modified:03 Oct 2019 21:30

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