A Velocity-Field-Based Controller for Assisting Leg Movement During Walking With a Bilateral Hip and Knee Lower Limb Exoskeleton.
Andres MartinezBrian Edward LawsonChristina M. DurroughMichael GoldfarbPublished in: IEEE Trans. Robotics (2019)
Keyphrases
- lower extremity
- velocity field
- joint angles
- biped robot
- disturbance rejection
- degrees of freedom
- vector field
- optical flow
- perspective projection
- limit cycle
- control strategy
- fluid motion
- control system
- image sequences
- inverted pendulum
- inverse kinematics
- control method
- gait patterns
- fluid flow
- closed loop
- flow field
- feedback loop
- quadruped robot
- smoothing algorithm
- motion field
- walking speed
- human body
- motion capture
- control algorithm
- end effector
- robot arm
- walking robot
- humanoid robot
- control scheme
- control law
- fuzzy controller
- gait recognition
- robotic manipulator
- motion model
- nonlinear systems
- gait cycle
- image segmentation
- video sequences
- reinforcement learning