Cooperative Control of a Hybrid Exoskeleton Using Optimal Time Varying Impedance Parameters During Stair Ascent.
Ashwin IyerMayank SinghNitin SharmaPublished in: ACC (2023)
Keyphrases
- position control
- cooperative
- force control
- optimal control
- control system
- control strategy
- robotic manipulator
- control strategies
- control scheme
- closed loop
- control parameters
- optimal parameters
- control method
- lower extremity
- single parameter
- operating conditions
- feedback loop
- control policy
- multi agent
- parameter values
- parameter estimation
- optimal solution
- scaling factors
- nonlinear dynamics
- artificial neural networks
- robot manipulators
- receding horizon
- joint space
- dynamic programming
- worst case
- pid controller
- robot control
- degrees of freedom
- fuzzy control