Robust and Adaptive Lower Limb Prosthesis Stance Control via Extended Kalman Filter-Based Gait Phase Estimation.
Nitish ThatteTanvi ShahHartmut GeyerPublished in: IEEE Robotics Autom. Lett. (2019)
Keyphrases
- robust estimation
- adaptive control
- control system
- biped robot
- control method
- legged robots
- orientation estimation
- computationally efficient
- parameter estimation
- robust regression
- neural network
- estimation process
- gait cycle
- adaptive neural
- feedback loop
- gait analysis
- gait recognition
- filtering algorithm
- estimation error
- least squares
- decision directed
- quadruped robot