Distributed Controllers for Human-Robot Locomotion: A Scalable Approach Based on Decomposition and Hybrid Zero Dynamics

摘要

This letter presents a formal foundation, based on decomposition, hybrid zero dynamics (HZD), and a scalable optimization, to develop distributed control algorithms for hybrid models of collaborative human-robot locomotion. The proposed approach considers a centralized controller and then decomposes the dynamics and feedback laws with a parameterization to synthesize local controllers. The Jacobian matrix of the Poincare map with local controllers is studied and compared to that with centralized ones. An optimization problem is then set up to tune the parameters of the local controllers for asymptotic stability. The proposed approach can significantly reduce the number of controller parameters to be optimized for the synthesis of distributed controllers. The analytical results are numerically evaluated with simulations of a multi-domain hybrid model with 19 degrees of freedom for stable amputee locomotion with a powered knee-ankle prosthetic leg.