Designing and implementing a plug-in type repetitive controller for a redundantly actuated ankle rehabilitation robot.
Mustafa Sinasi AyasIsmail Hakki AltasPublished in: J. Syst. Control. Eng. (2018)
Keyphrases
- limit cycle
- force control
- control scheme
- control law
- closed loop
- open loop
- control architecture
- mobile robot
- disturbance rejection
- motion control
- biped walking
- autonomous robots
- robot manipulators
- control system
- steady state
- control loop
- real time
- robotic manipulator
- visual servoing
- vision system
- position tracking
- neural model
- robot arm
- robotic systems
- robot navigation
- adaptive control
- lower extremity
- trajectory tracking
- liquid state machine
- human computer interaction
- virtual reality
- robot control
- controller design
- humanoid robot
- multi robot
- motor learning
- dynamic model
- optimal control
- reference trajectory
- biped robot
- control method
- nonlinear systems
- obstacle avoidance
- sensory motor
- autonomous navigation
- end effector