Method for movement of an exoskeleton (1) receiving a human operator (2), for executing a step during which a first leg (30) of the exoskeleton (1) passes from a first control point to a second control point, and during which a second leg (31) of the exoskeleton (1) remains on the ground, the method comprising, at each iteration of a plurality of iterations implemented during the step, the following method steps: - estimation of a speed of the first leg (30); - determination of a trajectory of the centre of mass of the exoskeleton (1) guaranteeing the equilibrium of the exoskeleton (1), and of a speed-of-movement setpoint closest to the estimated speed; - based on the setpoint, determination of a first command to be applied to the first leg (30); and - based on the trajectory, determination of a second command to be applied to the second leg (31).
PROCEDE DE MISE EN MOUVEMENT STABILISEE D'UN EXOSQUELETTE BIPEDE
METHOD FOR STABILIZED MOVEMENT OF A BIPEDAL EXOSKELETON
VERFAHREN ZUR STABILISIERUNG DER BEWEGUNG EINES ZWEIBEINIGEN EXOSKELETTS
16.07.2025
Patent
Elektronische Ressource
Französisch
PROCEDE DE MISE EN MOUVEMENT STABILISEE D'UN EXOSQUELETTE BIPEDE
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