3-D Dynamic Walking Trajectory Generation for a Bipedal Exoskeleton with Underactuated Legs: A Proof of Concept

A. Soliman, P. Şendur, B. Ugurlu
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引用次数: 4

Abstract

This paper presents a framework to address three dimensional (3-D) dynamic walking for a bipedal exoskeleton with underactuated legs. To achieve this goal, the framework is constructed via a trajectory generator and an optimized inverse kinematics algorithm that can cope with underactuation. In order to feasibly attain task velocities with underactuated legs, the inverse kinematics algorithm makes use of a task prioritization method via the exploitation of null space. In doing so, the tasks with lower priority, e.g., swing foot orientation, are attained as much as possible without disrupting the higher priority tasks, such as CoM trajectory. Meanwhile, the trajectory generator utilizes the ZMP concept analytically and ensures the acceleration continuity throughout the whole walking period, regardless of the contact and phase changes. The proposed method is verified via a lumped human-bipedal exoskeleton model that is developed and simulated in MSC.ADAMS simulation environment. As a result, we obtained feasible and dynamically balanced 3-D walking motion, in which no oblique foot landing or exaggerated torso orientation variations were observed, despite the underactuated nature of the robot legs.
具有欠驱动腿的双足外骨骼的三维动态行走轨迹生成:概念验证
本文提出了一个框架来解决具有欠驱动腿的两足外骨骼的三维(3-D)动态行走。为了实现这一目标,该框架通过一个轨迹生成器和一个优化的逆运动学算法来构建,该算法可以处理欠驱动。为了在欠驱动腿情况下可行地获得任务速度,逆运动学算法利用零空间实现任务优先级排序。在这样做的过程中,较低优先级的任务,如摆动脚方向,在不干扰较高优先级的任务(如CoM轨迹)的情况下尽可能地完成。同时,轨迹生成器解析地利用了ZMP概念,保证了整个行走过程中加速度的连续性,而不受接触和相位变化的影响。通过MSC开发和模拟的集总人类双足外骨骼模型验证了所提出的方法。ADAMS仿真环境。因此,我们获得了可行且动态平衡的三维行走运动,其中没有观察到倾斜的脚着地或夸张的躯干方向变化,尽管机器人腿的欠驱动性质。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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