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Manipulability Based Hierarchical Control of Perturbed Walking

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  • Robot and Applications
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Abstract

In this paper, a novel manipulability based three-level hierarchical approach is suggested for control of perturbed bipedal walking. An appropriate postural strategy is selected to restore stability if a perturbation occurs during steady-state human walking. Previous experimental studies on the human walking suggest that the selection of stabilizing strategies can be related to the kinematic manipulability of swing foot. The proposed three-level structure consists of a low, middle, and high levels. The manipulability is at the high-level layer. Therefore, in case of disturbance it determines to lengthen the step (elevating strategy) or shorten the step length (lowering strategy). The middle-level layer determines the optimal desired trajectories for joints. Finally, a low-level controller tracks the desired optimal trajectory to maintain stability. The results show the success of the manipulability based adapted control scheme against pushing perturbation. A comparison between the optimal gait patterns obtained with and without consideration of manipulability is also presented in this study. The results show that the manipulability improves disturbance rejection capability. Positioning the manipulability in the high-level of our proposed method mitigates the possibility of singularity occurrence and configuration limits during postural response.

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Author information

Authors and Affiliations

  1. Faculty of Mechanical Engineering, University of Guilan, Rasht, Iran

    Behnam Miripour Fard

  2. Department of Robotics and Mechatronics, Nazarbayev University, 53 Kabanbay Batyr Ave., Astana, 010000, Kazakhstan

    Mohamad Mosadeghzad

Authors
  1. Behnam Miripour Fard
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Corresponding author

Correspondence to Behnam Miripour Fard.

Additional information

Recommended by Editor Doo Yong Lee.

Behnam Miripour Fard received his BSc degree in Mechanical Engineering from the University of Guilan, Rasht, Iran in 2005, his MSc degree in Mechanical Engineering from the Bu-Ali Sina University, Hamedan, Iran, in 2008, and his Ph.D. degree in Mechanical Engineering from the University of Guilan, Rasht, Iran in 2013. From Apr. 2012 to Oct. 2012, he was a visiting PhD Student at Robotics Institute of Carnegie Mellon University, Pittsburgh, PA, USA. Between 2013 and 2018 he served as an assistant professor and the head of the robotics department of the Hamedan university of technology, Hamedan, Iran. He is currently an Assistant Professor of the faculty of mechanical engineering at the University of Guilan, Rasht, Iran. His research interests include; biomechanics, path planning and control of humanoid biped robots, and bio-mimetic approaches in robotics.

Mohamad Mosadeghzad received his B.Sc. in Mechanical Engineering, Solid Design, and M.Sc. in Mechanical Engineering, Applied Design, from Bu-Ali Sina University, Hamedan, Iran, in 2005 and 2008. He also received his Ph.D. in Robotics, Cognition and Interaction Technologies from Italian Institute of Technology (IIT) and Genoa University, Genoa, Italy, in 2014. From 2015 to 2016, he was a post-doctoral fellow and research assistant in the Cognitive Robotics laboratory of the Canadian Centre of Behavioral Neuroscience (CCBN), University of Lethbridge, Canada. He is currently an assistant professor in the Department of Robotics and Mechatronics, Nazarbayev University, Astana, Kazakhstan. His research interests include humanoids, control, rehabilitation, and cognitive robotics.

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Fard, B.M., Mosadeghzad, M. Manipulability Based Hierarchical Control of Perturbed Walking. Int. J. Control Autom. Syst. 17, 2343–2353 (2019). https://doi.org/10.1007/s12555-018-0577-9

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  • DOI: https://doi.org/10.1007/s12555-018-0577-9

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