A novel control algorithm for wearable robotics using phase plane invariants
With microprocessing power greatly increasing, hardware is no longer a hurdle in the development of controllers for wearable robotic systems, specifically lower limb robots. The challenge remains in developing smart algorithms that are able to detect which task a person is about to perform and then...
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| creator | Holgate, M.A. Sugar, T.G. Bohler, A.W. |
| description | With microprocessing power greatly increasing, hardware is no longer a hurdle in the development of controllers for wearable robotic systems, specifically lower limb robots. The challenge remains in developing smart algorithms that are able to detect which task a person is about to perform and then determine the correct desired movements for the robotic system. This paper reflects on four existing control algorithms for the task of level ground walking, and then presents theory and test results of a novel control algorithm based on phase plane invariants. The goal of this paper is to produce the correct motor reference command in a continuous fashion rather than based on determining distinct states for a given task. |
| doi_str_mv | 10.1109/ROBOT.2009.5152565 |
| format | Conference Proceeding |
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The goal of this paper is to produce the correct motor reference command in a continuous fashion rather than based on determining distinct states for a given task.</description><subject>Control systems</subject><subject>DC motors</subject><subject>Hardware</subject><subject>Intelligent robots</subject><subject>Legged locomotion</subject><subject>Robot control</subject><subject>Robotics and automation</subject><subject>Shape control</subject><subject>Springs</subject><subject>Testing</subject><issn>1050-4729</issn><issn>2577-087X</issn><isbn>1424427886</isbn><isbn>9781424427888</isbn><isbn>1424427894</isbn><isbn>9781424427895</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2009</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpFkMtKAzEUQOOj4Fj7A7rJD0y9N49JsqzFFxQKUsFdyaRJG5lOSjJW_HsXFlydxYGzOITcIkwRwdy_LR-WqykDMFOJkslGnpFrFEwIprQR56RiUqkatPq4-Be6uSQVgoRaKGZGpDJQNwJQ6isyKeUTAFA1giOvyGJG-3T0HXWpH3LqqO22Kcdht6chZfrtbbZt52lObRqiK_SrxH5LDztbPD10tvc09kebo-2HckNGwXbFT04ck_enx9X8pV4sn1_ns0XtkJuh3jCNAVphWiuMUY6H4CRDdNa5ECQEUI10ELgOILxUzmjJlBFahE3TKsbH5O6vG73360OOe5t_1qdD_BfhYlS5</recordid><startdate>200905</startdate><enddate>200905</enddate><creator>Holgate, M.A.</creator><creator>Sugar, T.G.</creator><creator>Bohler, A.W.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>200905</creationdate><title>A novel control algorithm for wearable robotics using phase plane invariants</title><author>Holgate, M.A. ; Sugar, T.G. ; Bohler, A.W.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c139t-d281f0b49ba4997c3ffc5211caccff50f0765c0f38f04e57c985279484fd6b723</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2009</creationdate><topic>Control systems</topic><topic>DC motors</topic><topic>Hardware</topic><topic>Intelligent robots</topic><topic>Legged locomotion</topic><topic>Robot control</topic><topic>Robotics and automation</topic><topic>Shape control</topic><topic>Springs</topic><topic>Testing</topic><toplevel>online_resources</toplevel><creatorcontrib>Holgate, M.A.</creatorcontrib><creatorcontrib>Sugar, T.G.</creatorcontrib><creatorcontrib>Bohler, A.W.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Holgate, M.A.</au><au>Sugar, T.G.</au><au>Bohler, A.W.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>A novel control algorithm for wearable robotics using phase plane invariants</atitle><btitle>2009 IEEE International Conference on Robotics and Automation</btitle><stitle>ROBOT</stitle><date>2009-05</date><risdate>2009</risdate><spage>3845</spage><epage>3850</epage><pages>3845-3850</pages><issn>1050-4729</issn><eissn>2577-087X</eissn><isbn>1424427886</isbn><isbn>9781424427888</isbn><eisbn>1424427894</eisbn><eisbn>9781424427895</eisbn><abstract>With microprocessing power greatly increasing, hardware is no longer a hurdle in the development of controllers for wearable robotic systems, specifically lower limb robots. The challenge remains in developing smart algorithms that are able to detect which task a person is about to perform and then determine the correct desired movements for the robotic system. This paper reflects on four existing control algorithms for the task of level ground walking, and then presents theory and test results of a novel control algorithm based on phase plane invariants. The goal of this paper is to produce the correct motor reference command in a continuous fashion rather than based on determining distinct states for a given task.</abstract><pub>IEEE</pub><doi>10.1109/ROBOT.2009.5152565</doi><tpages>6</tpages></addata></record> |
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| ispartof | 2009 IEEE International Conference on Robotics and Automation, 2009, p.3845-3850 |
| issn | 1050-4729 2577-087X |
| language | eng |
| recordid | cdi_ieee_primary_5152565 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Control systems DC motors Hardware Intelligent robots Legged locomotion Robot control Robotics and automation Shape control Springs Testing |
| title | A novel control algorithm for wearable robotics using phase plane invariants |
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