Preliminary assessment of a lower-limb exoskeleton controller for guiding leg movement in overground walking.
Andres MartinezBrian Edward LawsonMichael GoldfarbPublished in: ICORR (2017)
Keyphrases
- biped robot
- limit cycle
- disturbance rejection
- gait patterns
- walking robot
- lower extremity
- walking speed
- degrees of freedom
- joint angles
- inverted pendulum
- control strategy
- humanoid robot
- biologically inspired
- legged robots
- control system
- feedback loop
- biped walking
- gait cycle
- joint space
- control method
- steady state
- control scheme
- quadruped robot
- pid controller
- closed loop
- real time
- gait recognition
- optimal control
- position control
- human recognition
- open loop
- feedback control
- fuzzy controller
- control law
- control algorithm
- nonlinear systems
- human body
- central pattern generator
- adaptive control