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首页> 外文会议>International Workshop on Medical and Service Robots >Motion Control Algorithm for a Lower Limb Exoskeleton Based on Iterative LQR and ZMP Method for Trajectory Generation
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Motion Control Algorithm for a Lower Limb Exoskeleton Based on Iterative LQR and ZMP Method for Trajectory Generation

机译：基于迭代LQR和ZMP方法的轨迹生成的较低肢体外骨骼运动控制算法

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In this paper a problem of controlling a lower limb exoskeleton during sit-to-stand motion (verticalization) in sagittal plane is studied. It is assumed that left and right sides of the exoskeleton are moving symmetrically. The main challenge in performing this motion is to maintain balance of the system. In this paper we use the zero-moment point (ZMP) methodology to produce desired trajectories for the generalized coordinates that would allow the system to remain vertically balanced. The limitations of this approach is that, it requires relatively accurate work of the feedback controller that ensures that the exoskeleton follows generated trajectories. In this work we use Iterative Linear Quadratic Regulator (ILQR) as a feedback controller in order to obtained the required accuracy. In the paper a way of trajectory generation that uses ZMP methodology is discussed, the results of the numerical simulation of the exoskeleton motion are presented and analyzed. A comparison between a natural human motion (for a human not wearing an exoskeleton) and the simulated motion of an exoskeleton using the proposed algorithm is presented.
机译：在本文中，研究了在矢状平面中控制静止运动（垂直化）期间控制下肢外骨骼的问题。假设外骨骼的左侧和右侧相对称地移动。执行此动作的主要挑战是维持系统的平衡。在本文中，我们使用零点点（ZMP）方法来生产用于允许系统保持垂直平衡的普遍坐标的所需轨迹。这种方法的局限性是，它需要相对准确的反馈控制器的工作，这确保了外骨骼遵循产生的轨迹。在这项工作中，我们使用迭代线性二次调节器（ILQR）作为反馈控制器，以获得所需的精度。在纸质中，讨论了使用ZMP方法的轨迹生成的方式，提出和分析了外骨骼运动的数值模拟的结果。呈现了使用所提出的算法的天然人类运动（用于未佩戴外骨骼的人）和外骨骼的模拟运动之间的比较。

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