Hybrid Volitional Control of a Robotic Transtibial Prosthesis using a Phase Variable Impedance Controller.
Ryan R. PoshJonathan A. TittleDavid J. KellyJames P. SchmiedelerPatrick M. WensingPublished in: ICRA (2024)
Keyphrases
- position control
- robotic manipulator
- control system
- control scheme
- closed loop
- control loop
- impedance control
- force control
- control strategy
- feedback loop
- control strategies
- robotic systems
- dc motor
- control method
- optimal control
- open loop
- real time
- control theory
- control architecture
- motion control
- pid controller
- disturbance rejection
- feedback control
- dynamic model
- neural network controller
- robot manipulators
- model predictive control
- control parameters
- control algorithm
- fuzzy controller
- degrees of freedom
- iterative learning control
- fuzzy pid
- control rules
- adaptive neural
- visual servoing
- adaptive control
- control law
- robotic arm
- vision system
- waveguide
- end effector
- fuzzy control
- inverted pendulum
- mobile robot
- autonomous robots
- fuzzy logic controller
- biped robot
- perception action
- micro controller
- human operators
- pi controller