Optimal Energy Shaping Control for a Backdrivable Hip Exoskeleton.

Jiefu Zhang Jianping Lin Vamsi Peddinti Robert D. Gregg

Published in: ACC (2023)

Keyphrases

lower extremity
optimal control
energy consumption
control policy
control system
control strategy
control method
dynamic programming
minimum energy
worst case
energy minimization
degrees of freedom
optimal design
control strategies
low energy
control policies