Stable Motion Patterns Generation and Control for an Exoskeleton-Robot

Abstract

The presented algorithm enables an online generation of stable motion patterns with minimal computational effort. The motion patterns are specified by the user with few task parameters such as: step size, step duration and walking speed, which can be changed in the generation process or during the motion. The algorithm is based on a feedback loop scheme, composed of a linearized and decoupled non-linear model of the biped. To make the algorithm insensitive to model parameters uncertainty a sliding mode controller was integrated in the control loop. The balancing/stabilization of the robot is achieved by appropriate change of the joint accelerations. The performance of the algorithm was studied and demonstrated in a simulation. The algorithm can be used as motion patterns generator, as a high level controller as well as for balancing/stabilization of existing movement trajectories.