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This paper, for the first time, describes the estimation of the time-varying impedance of the human ankle in the sagittal (SP) and frontal (FP) planes during the stance phase of walking. The result of this work is aimed to provide design parameters for the development of 2-DOF powered ankle-foot prostheses capable of mimicking the time-varying impedance of the human ankle. Sixteen axes of rotations...
Force distribution is an important problem for the legged robots with active force control, the allocation of the foot forces can also achieve a desired force and torque on the hexapod robot. This paper presents a force distribution algorithm for redundant problem reduction, linearization and reducing the internal force. Combining the distribution algorithm with force control, the robot can walk on...
In this paper, we propose a leg compliance method and strategies for ZMP-based bipedal walking robot on continuous uneven terrain without gyro sensor by combining soft joint, impedance, force and position control. We divide biped robot into support leg and swing leg to apply different control methods, and distinguish period of swing leg into four procedures, which adopt different strategies. By this...
We present the MIT Super Mini Cheetah, a small (sub-10kg) and low-cost (sub-10k$) quadrupedal robot for dynamic locomotion. The robot can control vertical and horizontal force and impedance at each foot and performs dynamically stable walking, jumping, pronking, turning and braking using simple force and impedance trajectories. We present design specifications for dynamic legs which were used to guide...
Power-assist robots are expected to assist the motion in daily living of physically weak persons. The concept of perception-assist has been proposed to assist the sensory ability in addition to the assist of motor ability of the user. In the perception-assist for a lower-limb power-assist robot, perception-assist can be applied to avoid the unexpected stumbling of the user. In that case, a virtual...
This paper proposes a balance control method that consists of an imaginary full-actuated controller and an input transformation method. The controller is designed for maintaining the balance of bipeds under the assumption that bipeds have a direct control input to the torso. This controller has a symmetric structure that is independent of the stance phase and includes internal impedance of the chest...
Trotting on irregular terrain is a difficult task as undesirable impulse force by collision between robot foot and an obstacle makes the robot unstable. To cope with the problem, in this paper, variable impedance control algorithm changing leg impedance parameters according to the change of finite trot states is proposed. The state of quadruped trot is divided into five phases and the impedance parameters...
In the realm of legged locomotion, being compliant to external unperceived impacts is crucial when negotiating unstructured terrain. Impedance control is a useful framework to allow the robot to follow reference trajectories and, at the same time, handle external disturbances. To implement impedance control, high performance torque control in all joints is of great importance. In this paper, the torque...
To use biped walking as a locomotion method, many researchers have studied biped robots achieving high-performance walking. Many latest biped robots have arc-shaped feet to achieve more high-performance walking. However, the biped robots have many problems due to the arc-shaped feet. To overcome these problems, flat feet with elasticity and viscosity at ankles have been proposed, and it was shown...
Interaction control is an important aspect in rehabilitation robots to ensure system safety and allow effective rehabilitation. Due to the significant variability of human limb and joint characteristics, adaptability in the interaction controller is vital for enabling the adjustment of robot behavior to better suit the patient's requirements. A parallel manipulator has been developed for ankle rehabilitation...
This paper presents an overview of the design and control of an electrically powered knee and ankle prosthesis. The prosthesis design incorporates two motor-driven ball screw units to drive the knee and ankle joints. A spring in parallel with the ankle motor unit is employed to decrease the power consumption and increase the torque output for a given motor size. The devicepsilas sensor package includes...
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