Distributed Controllers for Human-Robot Locomotion: A Scalable Approach Based on Decomposition and Hybrid Zero Dynamics
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DOI: 10.1109/lcsys.2020.3045669
Abstract: This letter presents a formal foundation, based on decomposition, hybrid zero dynamics (HZD), and a scalable optimization, to develop distributed control algorithms for hybrid models of collaborative human-robot locomotion. The proposed approach considers a centralized… read more here.
Keywords: zero dynamics; based decomposition; approach; decomposition hybrid ... See more keywords