Preliminary experiments with a unified controller for a powered knee-ankle prosthetic leg across walking speeds.
David QuinteroDario J. VillarrealRobert D. GreggPublished in: IROS (2016)
Keyphrases
- limit cycle
- walking speed
- disturbance rejection
- steady state
- control scheme
- neural model
- closed loop
- biped robot
- computer assisted
- lower extremity
- control system
- gait patterns
- control algorithm
- high speed
- control loop
- walking robot
- humanoid robot
- pid controller
- fuzzy logic
- control strategy
- recurrent neural networks
- unified model
- robot manipulators
- principal component analysis
- neural network
- real time