Combining human volitional control with intrinsic controller on robotic prosthesis: A case study on adaptive slope walking.
Baojun ChenQining WangPublished in: EMBC (2015)
Keyphrases
- adaptive control
- control loop
- robotic manipulator
- control system
- disturbance rejection
- biped robot
- human operators
- control method
- adaptive neural
- control strategy
- lower extremity
- optimal control
- control theory
- robotic systems
- adaptive fuzzy
- cmac neural network
- adaptive controller
- robot behavior
- control rules
- real time
- control architecture
- motion control
- inverted pendulum
- control strategies
- reference trajectory
- limit cycle
- legged robots
- closed loop
- control scheme
- walking speed
- control law
- feedback control
- mobile robot
- control algorithm
- central pattern generator
- robot control
- tracking control
- controller design
- human gait
- networked control systems
- neural network controller
- sliding mode control
- traffic signal
- human walking
- robotic arm
- impedance control
- biped walking
- degrees of freedom
- pi control
- pid controller
- single neuron
- model predictive control
- trajectory tracking
- force control
- tracking error
- intelligent control
- visual servoing
- fuzzy logic controller
- autonomous robots