Modeling and Hybrid Compliant Control for a 2-DOF Robotic Leg With a New Biarticular Actuation

Abdonoor Kalibala, Abdelfatah Mohamed, Shinjiro Umezu, Samy F.M. Assal

研究成果: Conference contribution

抄録

It is well-known that, biarticular muscles are those that cross two joints rather than one to generate high torque at both joints. Such muscles play an essential role in human locomotion since they provide large forces. Different mono- and bi-articular actuations for a two- or three-link robotic leg have been developed in literature to study the human locomotion. In this paper, a new bio-inspired biarticular actuation configuration with mono articular rotary actuation for the proximal link and biarticular linear actuation for the distal link is proposed for a two-link robotic leg. Since the spring loaded inverted pendulum (SLIP) simplifies the human locomotion, the new proposed configuration is developed to realize the SLIP behavior during ground interaction and to show robustness against any impact from the environment. Full kinematic and dynamic analyses for the new configuration are developed in the biarticular coordinates. The derived dynamic model is then mapped to a rotating task space which best represents the swing and stance phases of the human gait. Thereafter, a unified framework for a hybrid impedance and position controller is developed in the rotating task space; while the controller gains are optimized to reduce the tracking errors and reject any disturbance. Simulation results prove the effectiveness of the proposed approach.

本文言語English
ホスト出版物のタイトル2022 12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2022
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1-6
ページ数6
ISBN(電子版)9781665472678
DOI
出版ステータスPublished - 2022
イベント12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2022 - Baishan, China
継続期間: 2022 7月 272022 7月 31

出版物シリーズ

名前2022 12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2022

Conference

Conference12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2022
国/地域China
CityBaishan
Period22/7/2722/7/31

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ サイエンスの応用
  • 制御およびシステム工学
  • 制御と最適化

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