论文标题
在辅助立场过渡期间，与额外机器人腿的耦合人类机器人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
论文作者
论文摘要
提出了一种对人类机器人共同控制额外机器人腿（XRL）可穿戴增强系统的新方法。 XRL系统由两条额外的腿组成，这些腿均具有其整体背包有效载荷以及一些人类操作员的重量。 XRL系统必须支持自己的平衡，并稳定地协助操作员，同时允许他们向选定的方向移动。在任务空间的某些方向上，XRL必须以平衡的位置反馈来限制人类运动，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，我们提出混合开放环 /闭环控制体系结构，用于以系统的方式混合两种控制模式。该系统被简化为易于实施并可靠地进行故障的单个联合反馈控制。该方法应用于XRL系统，该系统有助于人类执行核废料退役任务。已经开发了一个原型XRL系统，并通过模拟的人类在耦合到原型XRL系统的同时从站立到爬行和返回的过渡进行了开发和演示。
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.
