AI-based Reference Ankle Joint Torque Trajectory Generation for Robotic Gait Assistance: First Steps.
Luís MoreiraSara M. CerqueiraJoana FigueiredoJoão P. Vilas-BoasCristina P. SantosPublished in: ICARSC (2020)
Keyphrases
- limit cycle
- position control
- control scheme
- artificial intelligence
- expert systems
- mobile robot
- human gait
- control algorithm
- kinematic constraints
- case based reasoning
- joint space
- trajectory planning
- ai systems
- trajectory data
- spatio temporal
- gait analysis
- intelligent systems
- degrees of freedom
- closed loop
- contact force
- human gait recognition
- dynamic model
- control system
- kinematic model
- force control
- human recognition
- human motion
- joint angles
- human identification
- induction motor
- machine learning