Real-Time Joint Torque Estimation on Embedded system using EMG and Artificial Neural Network for Exoskeleton Robot.
Sangheum LeeHarin KimHyeonjun ParkTaeyang GwonDonghan KimPublished in: IRC (2020)
Keyphrases
- real time
- position control
- joint space
- artificial neural networks
- control system
- vision system
- lower extremity
- end effector
- control scheme
- robotic manipulator
- force control
- neural network
- humanoid robot
- degrees of freedom
- real environment
- closed loop
- robot arm
- mobile robot
- back propagation
- robot navigation
- control signals
- motor control
- genetic algorithm ga
- robot manipulators
- feedback loop
- obstacle avoidance
- autonomous mobile
- path planning
- genetic algorithm
- reinforcement learning
- robotic platform
- multi modal
- considerable increase
- outdoor environments
- inverse kinematics
- configuration space
- control architecture
- control strategies
- human robot interaction
- position and orientation
- control strategy