Review of control strategies for lower-limb exoskeletons to assist gait
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The locomotion pattern is characterized by a translation displacement mostly occurring along the forward frontal body direction, whereas local repositioning with large re-orientations, i.e. stepping, may induce translations both along the frontal and the l ...
ACM Press2016
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Technological advancements have led to the development of numerous wearable robotic devices for the physical assistance and restoration of human locomotion. While many challenges remain with respect to the mechanical design of such devices, it is at least ...
BioMed Central2015
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2015
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This article presents the first closed-loop magnetic bearing and angular velocity experimental results of a reaction sphere actuator for satellite attitude control. The proposed reaction sphere is a permanent magnet spherical actuator whose rotor is suppor ...
Pergamon-Elsevier Science Ltd2015
A probabilistic interpretation of model predictive control is presented, enabling extensions to multiple coordinate systems. The resulting controller follows a minimal intervention principle, by learning and retrieving movements through the coordination of ...
2016
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In this paper, we present a new walking controller based on 3LP model. Taking advantage of linear equations and closed-form solutions of 3LP, the proposed controller can project the state of the robot at any time during the phase back to a certain event fo ...
2016
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Abstract of the conference paper The kinetic identification of chemical reaction systems often represents a time-consuming and complex task. This contribution presents an approach that uses rate estimation and feedback linearization to implement ...
Elsevier2015
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This paper presents the application of operational space control based on hierarchical task optimization for quadrupedal locomotion. We show how the behavior of a complex robotic machine can be described by a simple set of least squares problems with diffe ...
2014
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For robotic systems, energy efficiency is one the most crucial goals. Many studies have been done to accomplish this goal from design and control point of view. In the second view, one of the preferred method is to design the desired trajectory in harmony ...
2014
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We propose a suitable model reduction paradigm -- the certied reduced basis method (RB) -- for the rapid and reliable solution of parametrized optimal control problems governed by partial dierential equations (PDEs). In particular, we develop the methodolo ...
Society for Industrial and Applied Mathematics2013
