Stable, Robust Hybrid Zero Dynamics Control of Powered Lower-Limb Prostheses

DOI10.1109/TAC.2017.2648040MaRDI QIDQ4589451zbMATH OpenWikidataFDO

Authors Anne E. Martin, Robert D. Gregg IV

Publication date 10 November 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/TAC.2017.2648040

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Biomechanics (92C10) Linearizations (93B18) Application models in control theory (93C95)

Recommendations

• Modelling and control of a lower limb exoskeleton driven by linear actuators
• A hierarchical Lyapunov-based cascade adaptive control scheme for lower-limb exoskeleton
• Hybrid control of biped robots to increase stability in locomotion
• Control of a pneumatic power active lower-limb orthosis with filter-based iterative learning control
• A nonsingular terminal sliding algorithm for swing and stance control of a prosthetic leg robot

Cited in

(1)

• Sensorless control for joint drive unit of lower extremity exoskeleton with cascade feedback observer

This page was built for publication: Stable, Robust Hybrid Zero Dynamics Control of Powered Lower-Limb Prostheses

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q4589451)