Trajectory Tracking Impedance Controller in 6-DoF Lower-Limb Exoskeleton for Over-Ground Walking Training: Preliminary Results.
Rafhael M. AndradeStefano SapienzaEric E. FabaraPaolo BonatoPublished in: ISMR (2021)
Keyphrases
- trajectory tracking
- position control
- closed loop
- control scheme
- control system
- control law
- iterative learning
- neural network controller
- reference trajectory
- dynamic model
- robotic manipulator
- iterative learning control
- visual servoing
- force control
- neural network structure
- pid controller
- bi directional
- control method
- physical constraints
- lower extremity
- feedback control
- sliding mode
- degrees of freedom
- dc motor
- training process
- control strategy
- optimal control
- real time
- training set
- robot arm
- control theory
- variable structure
- nonlinear systems
- control strategies
- training algorithm
- fuzzy controller
- pose estimation
- tracking error
- control algorithm
- path planning
- mobile robot