A Hybrid Systems and Optimization-Based Control Approach to Realizing Multi-Contact Locomotion on Transfemoral Prostheses

Zhao, Huihua; Horn, Jonathan; Reher, Jacob; Paredes, Victor; Ames, Aaron D.

Title:

A Hybrid Systems and Optimization-Based Control Approach to Realizing Multi-Contact Locomotion on Transfemoral Prostheses

dc.contributor.author	Zhao, Huihua
dc.contributor.author	Horn, Jonathan
dc.contributor.author	Reher, Jacob
dc.contributor.author	Paredes, Victor
dc.contributor.author	Ames, Aaron D.
dc.contributor.corporatename	Georgia Institute of Technology. Institute for Robotics and Intelligent Machines	en_US
dc.contributor.corporatename	Georgia Institute of Technology. School of Electrical and Computer Engineering	en_US
dc.contributor.corporatename	Georgia Institute of Technology. School of Mechanical Engineering	en_US
dc.contributor.corporatename	Texas A & M University. Department of Mechanical Engineering	en_US
dc.date.accessioned	2016-04-20T18:22:02Z
dc.date.available	2016-04-20T18:22:02Z
dc.date.issued	2015
dc.description	© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.	en_US
dc.description	DOI: 10.1109/CDC.2015.7402440
dc.description.abstract	This paper presents a systematic methodology utilizing multi-domain hybrid system models and optimization based controllers to achieve human-like multi-contact prosthetic walking experimentally on a custom-built prosthesis: AMPRO. Inspired by previous work that realized multi-contact locomotion on a bipedal robot AMBER2, a hybrid system based optimization problem is proposed leveraging the framework of multi-domain hybrid systems. Utilizing a reference human gait coupled with physical constraints, the end result of this optimization problem is stable multi-contact prosthetic gaits that can be implemented on the prostheses directly. Leveraging control methods that stabilize bipedal walking robots- control Lyapunov function based quadratic programs coupled with variable impedance control-an online optimization-based controller is formulated to realize the designed gait in both simulation and experimentally on AMPRO. Improved tracking and energy efficiency are seen when this methodology is implemented experimentally. Additionally, the resulting multi-contact prosthetic walking captures the essentials of natural human walking both kinematically and kinetically.	en_US
dc.embargo.terms	null	en_US
dc.identifier.citation	Zhao, H., Horn, J., Reher, J., Paredes, V., & Ames, A. D. (2015). A Hybrid Systems and Optimization-based Control Approach to Realizing Multi-contact Locomotion on Transfemoral Prostheses. 54th IEEE Conference on Decision and Control (CDC), 2015, pp. 1607-1612.	en_US
dc.identifier.doi	10.1109/CDC.2015.7402440
dc.identifier.isbn	978-1-4799-7884-7
dc.identifier.uri	http://hdl.handle.net/1853/54753
dc.language.iso	en_US	en_US
dc.publisher	Georgia Institute of Technology	en_US
dc.publisher.original	Institute of Electrical and Electronics Engineers
dc.subject	Bipedal walking robot	en_US
dc.subject	Control Lyapunov function	en_US
dc.subject	Prosthetic gait	en_US
dc.subject	Quadratic programs	en_US
dc.title	A Hybrid Systems and Optimization-Based Control Approach to Realizing Multi-Contact Locomotion on Transfemoral Prostheses	en_US
dc.type	Text
dc.type.genre	Proceedings
dspace.entity.type	Publication
local.contributor.corporatename	Institute for Robotics and Intelligent Machines (IRIM)
local.contributor.corporatename	Advanced Mechanical Bipedal Experimental Robotics Lab
relation.isOrgUnitOfPublication	66259949-abfd-45c2-9dcc-5a6f2c013bcf
relation.isOrgUnitOfPublication	29d75055-4650-4521-943e-7f3cf6efc029