直並列ハイブリッド外骨格Recupera-Rehaの着座・起立・歩行制御
Sitting, Standing and Walking Control of the Series-Parallel Hybrid Recupera-Reha Exoskeleton
多数の運動学的ループを持つ直並列ハイブリッド外骨格に対し、最適制御で着座・起立・静的歩行の軌道を生成し、実機で動作を検証した。
著者: Ibrahim Tijjani, Rohit Kumar, Melya Boukheddimi, Mathias Trampler, Shivesh Kumar, Frank Kirchner
分類: cs.RO
原文アブストラクト
This paper presents advancements in the functionalities of the Recupera-Reha lower extremity exoskeleton robot. The exoskeleton features a series-parallel hybrid design characterized by multiple kinematic loops resulting in 148 degrees of freedom in its spanning tree and 102 independent loop closure constraints, which poses significant challenges for modeling and control. To address these challenges, we applied an optimal control approach to generate feasible trajectories such as sitting, standing, and static walking, and tested these trajectories on the exoskeleton robot. Our method efficiently solves the optimal control problem using a serial abstraction of the model to generate trajectories. It then utilizes the full series-parallel hybrid model, which takes all the kinematic loop constraints into account to generate the final actuator commands. The experimental results demonstrate the effectiveness of our approach in generating the desired motions for the exoskeleton.
