Control and system identification for the Berkeley lower extremity exoskeleton (BLEEX)
Control and system identification for the Berkeley lower extremity exoskeleton (BLEEX)
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DOI：
10.1163/156855306778394012
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发表时间：
2006-01-01
影响因子：
2
通讯作者：
Kazerooni, H.
中科院分区：
文献类型：
--
作者：
Ghan, Justin;Steger, Ryan;Kazerooni, H.
伯克利下肢外骨骼（BLEEX）是一种自主机器人设备，其功能是增加人类飞行员的力量和耐力。为了实现顺应性地对外部力作出反应的外骨骼控制器，需要系统的动力学的精确模型。在这份报告中，一系列的系统辨识实验的设计和BLEEX进行。以及确定腿的段的质量和惯性特性，各种非理想的元素，如摩擦，刚度和阻尼力，被识别。由此产生的动态模型被发现是显着更准确的比原来的模型预测的机器人的设计。
The Berkeley lower extremity exoskeleton (BLEEX) is an autonomous robotic device whose function is to increase the strength and endurance of a human pilot. In order to achieve an exoskeleton controller which reacts compliantly to external forces, an accurate model of the dynamics of the system is required. In this report, a series of system identification experiments was designed and carried out for BLEEX. As well as determining the mass and inertia properties of the segments of the legs, various non-ideal elements, such as friction, stiffness and damping forces, are identified. The resulting dynamic model is found to be significantly more accurate than the original model predicted from the designs of the robot.