Optimal Energy Shaping Control for a Backdrivable Hip Exoskeleton.

Jiefu Zhang Jianping Lin Vamsi Peddinti Robert D. Gregg

Published in: CoRR (2022)

Keyphrases

lower extremity
optimal control
control method
minimum energy
control system
dynamic programming
control strategy
joint space
adaptive control
energy consumption
worst case
upper bound
computer vision
degrees of freedom
optimal design
control problems
mobile robot
optimal solution