An energy-efficient torque controller based on passive dynamics of human locomotion for a robotic transtibial prosthesis.
Kebin YuanQining WangLong WangPublished in: ICRA (2016)
Keyphrases
- dynamic model
- robotic systems
- mobile robot
- contact force
- control scheme
- robotic manipulator
- control algorithm
- real time
- position control
- control strategy
- control architecture
- closed loop
- control loop
- human operators
- control system
- dynamical systems
- energy efficient
- robot behavior
- induction motor
- highly nonlinear
- robot motion
- external disturbances
- robot control
- fuzzy controller
- legged robots
- control method
- quadruped robot