Adjusting the Quasi-Stiffness of an Ankle-Foot Prosthesis Improves Walking Stability during Locomotion over Compliant Terrain.
Chrysostomos KarakasisRobert SalatiPanagiotis ArtemiadisPublished in: IROS (2023)
Keyphrases
- legged robots
- stability margin
- limit cycle
- quadruped robot
- mobile robot
- contact force
- legged locomotion
- rough terrain
- finite element model
- biped walking
- inverted pendulum
- gait patterns
- multiresolution
- disturbance rejection
- neural model
- neural network
- lower extremity
- finite element analysis
- human motion
- experimental data