Gait training algorithm based on inverse dynamics of walking rehabilitation robot, DDgo Pro.
Ji-Yong KimJung-Yup KimPublished in: Intell. Serv. Robotics (2021)
Keyphrases
- training algorithm
- inverse dynamics
- biped robot
- legged robots
- nonlinear systems
- back propagation
- learning rate
- neural network
- parallel manipulator
- humanoid robot
- support vector machine
- mobile robot
- training process
- control strategy
- rbf neural network
- learning algorithm
- fuzzy controller
- hidden layer
- radial basis function
- fuzzy logic
- position and orientation