Generation and control of adaptive gaits in lower-limb exoskeletons for motion assistance.
Daniel Sanz-MerodioManuel CestariJuan Carlos ArevaloXavier CarrilloElena GarciaPublished in: Adv. Robotics (2014)
Keyphrases
- sagittal plane
- mechanical systems
- quadruped robot
- motion control
- three dimensional
- space time
- control system
- control signals
- adaptive control
- humanoid robot
- image sequences
- gait analysis
- inverted pendulum
- moving objects
- optical flow
- human motion
- motion analysis
- motion planning
- control method
- control strategy
- human gait
- legged robots
- motion estimation
- motion tracking
- motion capture
- joint angles
- optimal control
- tracking error
- upper body
- camera motion
- reference trajectory
- robotic systems