The presented algorithm enables an online generation of stable motion patterns with minimal computational effort. The motion patterns are specified by the user with few task parameters such as: step size, step duration and walking speed, which can be changed in the generation process or during the motion. The algorithm is based on a feedback loop scheme, composed of a linearized and de-coupled non-linear model of the biped. To make the algorithm insensitive to model parameters uncertainty a sliding mode controller was integrated in the control loop. The balancing/stabilization of the robot is achieved by appropriate change of the joint accelerations. The performance of the algorithm was studied and demonstrated in a simulation. The algorithm can be used as motion patterns generator, as a high level controller as well as for balancing/stabilization of existing movement trajectories.
CITATION STYLE
Kondak, K., & Hommel, G. (2006). Stable motion patterns generation and control for an exoskeleton-robot. In Human Interaction with Machines Proceedings of the 6th International Workshop held at the Shanghai JiaoTong University, 2005 (pp. 107–116). Springer. https://doi.org/10.1007/1-4020-4043-1_12
Mendeley helps you to discover research relevant for your work.