Hybrid Open-Loop Closed-Loop Control of Coupled Human–Robot Balance During Assisted Stance Transition With Extra Robotic Legs
Author(s)
Gonzalez, Daniel J.; Asada, Haruhiko
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A new approach to the human-robot shared control of the extra robotic legs (XRL) wearable augmentation system is presented. The XRL system consists of two extra legs that bear the entirety of its backpack payload, as well as some of the human operator's weight. The XRL system must support its own balance and assist the operator stably while allowing them to move in selected directions. In some directions of the task space the XRL must constrain the human motion with position feedback for balance, while in other directions the XRL must have no position feedback, so that the human can move freely. Here, we present hybrid open-loop/closed-loop control architecture for mixing the two control modes in a systematic manner. The system is reduced to individual joint feedback control that is simple to implement and reliable against failure. The method is applied to the XRL system that assists a human in conducting a nuclear waste decommissioning task. A prototype XRL system has been developed and demonstrated with a simulated human performing the transition from standing to crawling and back again while coupled to the prototype XRL system.
Date issued
2019-04Department
Massachusetts Institute of Technology. Department of Mechanical Engineering; d'Arbeloff Lab for Information Sytems and Technology (Massachusetts Institute of Technology)Journal
IEEE Robotics and Automation Letters
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Gonzalez, Daniel J. and H. Harry Asada."Hybrid Open-Loop Closed-Loop Control of Coupled Human–Robot Balance During Assisted Stance Transition With Extra Robotic Legs." IEEE Robotics and Automation Letters 4, 2 (April 2019): 1676-1683 © 2019 IEEE
Version: Author's final manuscript
ISSN
2377-3766
2377-3774