Hybrid Volitional Control of a Robotic Transtibial Prosthesis using a Phase Variable Impedance Controller.
Ryan R. PoshJonathan A. TittleDavid J. KellyJames P. SchmiedelerPatrick M. WensingPublished in: CoRR (2023)
Keyphrases
- position control
- robotic manipulator
- control system
- control scheme
- impedance control
- closed loop
- force control
- control loop
- control strategies
- feedback loop
- control strategy
- robotic systems
- optimal control
- pid controller
- dc motor
- control method
- control architecture
- open loop
- control theory
- control law
- real time
- feedback control
- disturbance rejection
- degrees of freedom
- robot arm
- controller design
- neural network controller
- robot manipulators
- fuzzy logic controller
- autonomous robots
- guaranteed cost
- neural network
- fuzzy pid
- networked control systems
- adaptive fuzzy
- induction motor
- adaptive control
- matlab simulink
- motion control
- control rules
- tracking control
- model predictive control
- control parameters
- robust stability
- dynamic model
- mobile robot
- reinforcement learning
- active queue management