Locomotion Stability Analysis of Lower Extremity Augmentation Device  

作　　者：Likun Wang Chaofeng Chen Wei Dong Zhijiang Du Yi Shen Guangyu Zhao 

机构地区：[1]State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China [2]School of Astronautics,Harbin Institute of Technology,Harbin 150001,China [3]Weapon Equipment Research Institute,China Ordnance Industries Group,Beijing 102202,China

出　　处：《Journal of Bionic Engineering》2019年第1期99-114,共16页仿生工程学报（英文版）

基　　金：the National Science Foundation of China under Grant No.51521003.

摘　　要：Stability is of great significance in the theoretical framework of biped locomotion.Real-time control and walking patterns planning are on the premise that the robot works in the stable condition.In this paper,we address the crucial issue of the locomotion stability based on the modified Poincare return map and the hybrid automata.Not akin to the traditional stability criteria,i.e.,the Zero Moment Point(ZMP)and the Center of Mass(CoM),the modified Poincare return map is more appropriate for both dynamic walking arid non-periodic walking.Moreover,a novel high-level reinforcement learning methodology,so-called active PI2 CMA-ES,is proposed in this paper to plan the exoskeleton locomotion.The proposed learning methodology demonstrates that the locomotion of the exoskeleton is asymptotically stable according to the modified Poincare return map criterion.Finally,the proposed learning methodology is tested by the Lower Extremity Augmentation Device(LEAD)and its effectiveness is verified by the experiments.

关 键 词：BIPED locomotion DYNAMIC WALKING DYNAMIC MOVEMENT Primitives (DMP) stability EXOSKELETON bioinspiration 

分 类 号：TB[一般工业技术]