基于控制障碍函数的全向行走辅助机器人安全约束模型预测控制

中文摘要 AI 辅助

提供安全有效的移动辅助在恢复运动障碍患者独立性和提高其生活质量方面起着至关重要的作用。在此背景下，机器人行走辅助设备近年来已成为有前景的解决方案，可在确保用户安全和支撑的同时提供物理上顺从的交互。本文提出了一种针对全向行走辅助机器人（I-WANDER）的新型控制框架，该框架将控制障碍函数（CBF）公式集成到模型预测控制（MPC）方案中，以显式地强制执行防碰撞安全约束，同时优化能效和平顺的人机协作。该方法通过12名健康参与者执行两种不同行走任务进行了实验评估，分别使用了所提出的基于CBF的MPC控制器（CB-MPC）和可变导纳控制器（AC）。第一个任务涉及通过U形走廊的结构化导航，而第二个任务则是在蒙眼条件下执行的单障碍物避障任务，以确保障碍物是意外的。对比结果表明，CB-MPC架构显著降低了能量消耗和机械功（p < 0.01），且未牺牲运动平顺性，同时减少了障碍物碰撞次数。总体而言，研究结果凸显了所提出的控制架构在增强机器人行走辅助的安全性和效率方面的潜力。

英文摘要

Providing safe and effective mobility assistance plays a crucial role in restoring independence and enhancing the quality of life for individuals with motor impairments. In this context, robotic walking assistive devices have recently emerged as promising solutions to provide physically compliant interaction while ensuring user safety and support. This paper presents a novel control framework for an omnidirectional Walking Assistive Robot (I-WANDER) that integrates a Control Barrier Function (CBF) formulation into a Model Predictive Control (MPC) scheme to explicitly enforce collision-avoidance safety constraints while optimizing for energy efficiency and smooth human-robot collaboration. The method was experimentally evaluated with 12 healthy participants performing two different walking tasks using both the proposed CBF-based MPC controller (CB-MPC) and a variable admittance controller (AC). The first task involved structured navigation through a U-shaped corridor, whereas the second consisted of a single-obstacle avoidance task performed blindfolded to ensure the obstacle was unexpected. Comparative results show that the CB-MPC architecture significantly reduces energy consumption and mechanical work (p < 0.01) without compromising motion smoothness, while also decreasing the number of obstacle collisions. Overall, the findings highlight the potential of the proposed control architecture to enhance both safety and efficiency in robotic walking assistance.

发表机构

• Istituto Italiano di Tecnologia（意大利理工学院）
• Politecnico di Milano（米兰理工大学）
• INAIL（意大利国家工伤保险研究所）

机构由 AI 辅助整理，请以论文原文为准。