Bio-inspired control of joint torque and knee stiffness in a robotic lower limb exoskeleton using a central pattern generator.
Stefan O. SchradeYannik NagerAmy R. WuRoger GassertAuke Jan IjspeertPublished in: ICORR (2017)
Keyphrases
- position control
- bio inspired
- robotic manipulator
- control scheme
- feedback loop
- force control
- control system
- closed loop
- control strategies
- impedance control
- robot arm
- swarm intelligence
- control strategy
- dc motor
- robot manipulators
- artificial neural networks
- degrees of freedom
- hybrid intelligent systems
- computer assisted
- joint angles
- pid controller
- robotic systems
- visual servoing
- low level image processing
- end effector
- central pattern generator
- dynamic model
- modular neural networks
- lower extremity
- neural network
- control method
- control law
- control algorithm
- fuzzy logic
- high level
- image processing
- genetic algorithm
- real time