Controller Design by Decoupling of Angular Planes for Bipedal Sit to Stand Movement

A.M. Mughal and K. Iqbal (USA)


Modelling, Optimal Control, Decoupled Systems,Holonomic Constraints


Human voluntary movements are complex physical phenomenon and there are several physiological factors that control the movement such as transient response, steady state position, speed of motion etc. In this paper, we propose a nonlinear human bipedal model with thirteen (13) generalized coordinates to model sit-to-stand (STS) transfer. The model has three holonomic constraints and at first stage we decouple the constrained and unconstrained systems. The unconstrained degrees consist of sagittal and frontal plane angles and we further decouple these planes for better control strategy. There are three decoupled controllers working together to stabilize the nonlinear model for STS maneuver also satisfying the holonomic constraints. We adopt H∞ and H2 controller design for feedback torques in sagittal and frontal planes respectively and provide simulation results to show the applicability of this design in STS task.

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