Finite-state control of a robotic transtibial prosthesis with motor-driven nonlinear damping behaviors for level ground walking.
Qining WangKebin YuanJinying ZhuLong WangPublished in: AMC (2014)
Keyphrases
- finite state
- control system
- markov chain
- control strategy
- motor control
- motor learning
- markov decision processes
- control loop
- model checking
- robotic systems
- optimal policy
- induction motor
- humanoid robot
- mobile robot
- position control
- operating conditions
- robotic manipulator
- lyapunov function
- highly nonlinear
- tree automata
- control method
- feedback control
- partially observable markov decision processes
- real robot
- control algorithm
- optimal control
- mathematical model
- continuous time bayesian networks
- walking robot
- learning algorithm
- dynamic programming
- reinforcement learning