Single Leg Gait Tracking of Lower Limb Exoskeleton Based on Adaptive Iterative Learning Control
نویسندگان
چکیده
منابع مشابه
ZMP Theory-based Gait Planning and Model-Free Trajectory Tracking Control of Lower Limb Carrying Exoskeleton System
A virtual prototype design and corresponding mathematical model analysis is presented. To obtain a stable and smooth synthesized gait, the zero-moment-point (ZMP) theory and three spline interpolation method have been combined and applied. A novel data-driven model free control strategy, called Time-Delay Estimation based intelligent PID (TDEiPID) combined with Equivalent Sliding Mode Control (...
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iii To my wife, Renee iv ACKNOWLEDGEMENTS I have been priveledged to work and study under engineers of the highest caliber during my five years at Vanderbilt. I am grateful for and amazed by the consistantly insightful vision with which my advisor, Dr. Michael Goldfarb, has directed our lab. His integrity and humility inspire me. My gratitude also extends to Hugo Quintero for his exceptional en...
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ژورنال
عنوان ژورنال: Applied Sciences
سال: 2019
ISSN: 2076-3417
DOI: 10.3390/app9112251