多腿辅助姿态转换过程中人-机器人耦合平衡的混合开环闭环控制
Hybrid Open-Loop Closed-Loop Control of Coupled Human-Robot Balance During Assisted Stance Transition with Extra Robotic Legs
摘要：
提出了一种新的人-机器人共享控制的额外机器人腿（XRL）可穿戴增强系统。XRL系统由两条额外的腿组成，它们承担了整个背包的有效载荷，以及一些人类操作员的重量。XRL系统必须支持其自身的平衡，并在允许操作员在选定方向上移动的同时稳定地协助操作员。在任务空间的某些方向上，XRL必须通过位置反馈来约束人类运动以实现平衡，而在其他方向上，XRL必须没有位置反馈，以便人类可以自由移动。在这里，我们提出了混合开环/闭环控制体系结构，用于以系统的方式混合两种控制模式。该系统被简化为单独的关节反馈控制，其易于实现并且可靠地防止故障。该方法被应用于辅助人类进行核废料退役任务的XRL系统。一个原型XRL系统已经开发和演示了一个模拟人执行从站立到爬行和返回的过渡，同时耦合到原型XRL系统。
英文摘要：
A new approach to the human-robot shared control of the Extra Robotic Legs (XRL) wearable augmentation system is presented. The XRL system consists of two extra legs that bear the entirety of its backpack payload, as well as some of the human operator's weight. The XRL System must support its own balance and assist the operator stably while allowing them to move in selected directions. In some directions of the task space the XRL must constrain the human motion with position feedback for balance, while in other directions the XRL must have no position feedback, so that the human can move freely. Here, we present Hybrid Open-Loop / Closed-Loop Control Architecture for mixing the two control modes in a systematic manner. The system is reduced to individual joint feedback control that is simple to implement and reliable against failure. The method is applied to the XRL system that assists a human in conducting a nuclear waste decommissioning task. A prototype XRL system has been developed and demonstrated with a simulated human performing the transition from standing to crawling and back again while coupled to the prototype XRL system.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
