System for controlling a robotic device during walking, in particular for rehabilitation purposes, and corresponding robotic device

摘要

A control system (12), for a walking robotic device (1) having a frame structure (3) and actuator means (10) coupled to the frame structure (3) and operable to cause angular movements of a number of joints (7, 8, 9) in order to generate corresponding movements of the robotic device (1) in the Cartesian space (xyz) for performing a gait, envisages: an inner control loop (20) configured to feedback control a number of independent joint variables (θ̇ind) associated to the joints of the frame structure (3), the number being equal to a number of degrees of freedom of the robotic device (1), based on tracking of reference joint values (θ̇ind_ref) for the independent joint variables (θ̇ind); an outer control loop (30), cooperating with the inner control loop (20), and configured to generate the reference joint values (θ̇ind_ref) starting from imposed trajectories of Cartesian-space variables associated to the robotic device (1), through inverse kinematics expressed with Jacobians of the Cartesian-space variables with respect to the independent joint variables; the number of the Cartesian-space variables is at least equal to the number of the independent joint variables, so as to control posture and maintain equilibrium during the gait with a unitary control approach.