A Controller for Guiding Leg Movement During Overground Walking With a Lower Limb Exoskeleton.
Andres MartinezBrian Edward LawsonMichael GoldfarbPublished in: IEEE Trans. Robotics (2018)
Keyphrases
- biped robot
- limit cycle
- disturbance rejection
- gait patterns
- walking robot
- walking speed
- lower extremity
- control strategy
- biologically inspired
- humanoid robot
- degrees of freedom
- feedback loop
- joint angles
- inverted pendulum
- gait recognition
- joint space
- control system
- legged robots
- biped walking
- control method
- gait cycle
- central pattern generator
- neural model
- closed loop
- operating conditions
- quadruped robot
- steady state
- control scheme
- motion planning
- control algorithm
- pose estimation
- reference trajectory
- upper body
- robotic manipulator
- vision system
- neural network