Real-Time Gait Phase Estimation for Robotic Hip Exoskeleton Control During Multimodal Locomotion.
Inseung KangDean D. MolinaroSrijan DuggalYanrong ChenPratik KunapuliAaron J. YoungPublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- real time
- legged robots
- robotic systems
- quadruped robot
- lower extremity
- control loop
- degrees of freedom
- robotic arm
- control system
- mobile robot
- robot control
- real time control
- vision system
- data acquisition
- closed loop
- rough terrain
- biped robot
- robot motion
- multi modal
- control signals
- autonomous robots
- position control
- control method
- aerial vehicles
- gait recognition
- legged locomotion
- human recognition
- robotic manipulator
- optimal control
- motor control
- human identification
- feedback control
- reinforcement learning