Powered upper-limb control using passivity-based nonlinear disturbance observer for unknown payload carrying applications
Minjun Kim, Woongyong Lee, Jae Yeon Choi, Yong Sik Park, Sung Ho Park, Goo Bong Chung, Kyung-Lyong Han, Il Seop Choi
Abstract
This paper proposes a passivity-based nonlinear disturbance observer (DOB) design for a powered upper-limb robot control. The proposed DOB allows for the nonlinearities of the robot dynamics, whereas the typical DOB designs cannot. Moreover, by virtue of the passivity property, human operator and environmental interactions can be embedded in the control loop. As a DOB, the proposed approach has a disturbance observation property that makes the actual robot behave like a nominal model selected by the user. Performance analysis proposes a gain tuning rule. In experimental validation, actual powered upper-limb robot is used to perform unknown payload carrying applications.
BibTeX
@inproceedings{icra2016_poweredupperlimb,
title = {Powered upper-limb control using passivity-based nonlinear disturbance observer for unknown payload carrying applications},
author = {Minjun Kim and Woongyong Lee and Jae Yeon Choi and Yong Sik Park and Sung Ho Park and Goo Bong Chung and Kyung-Lyong Han and Il Seop Choi and Il Hong Suh and Youngjin Choi and Wan Kyun Chung},
booktitle = {ICRA 2016},
year = {2016}
}