Title :
Optimal Control of a Robotic System for Human Power Enhancement
Author :
Montagner, A. ; Frisoli, A. ; Marcheschi, S. ; Sanchez, E. ; Bergamasco, M.
Author_Institution :
PERCRO Lab., Pisai
Abstract :
Human power augmentation devices are robotic systems used for assisting the operator in the execution of manipulative/walking tasks and with the capability of amplifying human force. In this paper, we present new approach for the synthesis of an LQG controller that, with respect to other solutions, does not require direct measurements of interaction forces between the robotic device and the external environment. The experimental performance of the devised controller is shown on a testbed with 1 DOF
Keywords :
linear quadratic Gaussian control; robots; human power augmentation device; linear quadratic Gaussian control; manipulative task; optimal control; robotic system; walking task; Control system synthesis; Exoskeletons; Force control; Force measurement; Force sensors; Humans; Legged locomotion; Optimal control; Robots; Torque control;
Conference_Titel :
EuroHaptics Conference, 2007 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2007. Second Joint
Conference_Location :
Tsukaba
Print_ISBN :
0-7695-2738-8
DOI :
10.1109/WHC.2007.88
