A Reinforcement Learning Based Controller to Minimize Forces on the Crutches of a Lower-Limb Exoskeleton.
Aydin Emre UtkuSuzan Ece AdaMuhammet HatipogluMustafa DermanEmre UgurEvren SamurPublished in: CoRR (2024)
Keyphrases
- reinforcement learning
- lower extremity
- optimal control
- function approximation
- adaptive control
- control policy
- control method
- feedback control
- closed loop
- control algorithm
- real time
- model free
- control strategies
- control system
- controller design
- actor critic
- control scheme
- neural network
- state space
- machine learning
- multi agent
- dynamic programming
- learning process
- fuzzy controller
- pid controller
- temporal difference
- reinforcement learning algorithms
- control strategy
- fuzzy logic controller
- position control
- joint space
- feedback loop
- control architecture
- mobile robot
- optimal policy
- control law
- markov decision processes