A Gait Trajectory Control Scheme Through Successive Approximation Based on Radial Basis Function Neural Networks for the Lower Limb Exoskeleton Robot.
Bin RenXurong LuoYao WangJiayu ChenPublished in: J. Comput. Inf. Sci. Eng. (2020)
Keyphrases
- control scheme
- radial basis function neural network
- position control
- successive approximation
- robot manipulators
- joint angles
- inverse kinematics
- degrees of freedom
- limit cycle
- closed loop
- robotic manipulator
- end effector
- pattern classification
- rbfnn
- control system
- configuration space
- control strategy
- dynamic model
- control law
- force control
- control loop
- rbf neural network
- pid controller
- radial basis function
- vector quantization
- multilayer perceptron
- robot arm
- neural network
- human body
- back propagation
- motion planning
- feedback loop
- sensitivity analysis
- evolutionary algorithm
- visual servoing
- mobile robot
- support vector
- artificial neural networks
- neural network controller
- pose estimation
- function approximation
- generalization ability
- control algorithm
- hidden layer