Automatic generation of optimal standing-up motion using nonlinear receding horizon control

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Care work such as lifting a cared person is a heavy task. To reduce the hard labor of this kind, various power assist technologies are investigated. Their main focus is on the proposal of mechanism or robotic system rather than the optimality of the dynamical behaviour. In this paper, we consider the question, 'what is the best way to make a person stand up?' from the viewpoint of systems control. After deriving the model of the human body as a system of links, the torque minimization problem with terminal condition is considered. To prevent the falling over, the constraint on the Zero Moment Point (ZMP) is introduced. We employ the nonlinear receding horizon control to solve this nonlinear optimization problem with constraints. The generated motion is verified on a multibody dynamics simulator. Finally, the behaviour of the receding and infinite horizon settings is compared through an illustrative example.

Original languageEnglish
Title of host publicationSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages481-486
Number of pages6
Volume2018-January
ISBN (Electronic)9781538622636
DOIs
Publication statusPublished - Feb 1 2018
Event2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China
Duration: Dec 11 2017Dec 14 2017

Other

Other2017 IEEE/SICE International Symposium on System Integration, SII 2017
CountryTaiwan, Province of China
CityTaipei
Period12/11/1712/14/17

ASJC Scopus subject areas

  • Modelling and Simulation
  • Instrumentation
  • Artificial Intelligence
  • Computer Science Applications
  • Engineering (miscellaneous)
  • Materials Science (miscellaneous)
  • Control and Optimization

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  • Cite this

    Kobayashi, K., Hirata, K., Nakamura, Y., & Okano, K. (2018). Automatic generation of optimal standing-up motion using nonlinear receding horizon control. In SII 2017 - 2017 IEEE/SICE International Symposium on System Integration (Vol. 2018-January, pp. 481-486). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2017.8279259