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Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain.
Roberto Leo Medrano
Gray Cortright Thomas
Connor G. Keais
Elliott J. Rouse
Robert D. Gregg
Published in:
IEEE Trans. Robotics (2023)
Keyphrases
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real time
lower extremity
high speed
limit cycle
low cost
legged robots
three dimensional
degrees of freedom
multiresolution
gait recognition
learning phase
terrain modeling
quadruped robot
neural network
control system
quasi periodic