A Control Strategy for Maintaining Gait Stability and Reducing Body-Exoskeleton Interference Force in Load-Carrying Exoskeleton.
Xianggang ZhangGuoyu WangPeipei YuanHui XuYumei HouPublished in: J. Intell. Robotic Syst. (2020)
Keyphrases
- control strategy
- lower extremity
- position control
- control scheme
- force control
- biped robot
- control strategies
- control system
- control algorithm
- transient response
- operating conditions
- optimal control
- mathematical model
- control method
- control law
- control architecture
- predictive control
- fuzzy controller
- speed control
- robotic manipulator
- lyapunov function
- sliding mode control
- fuzzy logic control
- robot manipulators
- human body
- closed loop
- controller design
- stability analysis
- control loop
- fuzzy logic
- biologically inspired
- variable structure
- legged robots
- end effector
- gait recognition