Distributed Controllers for Human-Robot Locomotion: A Scalable Approach Based on Decomposition and Hybrid Zero Dynamics
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Control Systems Letters"
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
Stable, Robust Hybrid Zero Dynamics Control of Powered Lower-Limb Prostheses
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DOI: 10.1109/tac.2017.2648040
Abstract: To improve the quality of life for lower-limb amputees, powered prostheses are being developed. Advanced control schemes from the field of bipedal robots, such as hybrid zero dynamics (HZD), may provide great performance. HZD-based control… read more here.
Keywords: hybrid zero; zero dynamics; lower limb; control ... See more keywords
Hybrid Zero Dynamics Control for Gait Guidance of a Novel Adjustable Pediatric Lower-Limb Exoskeleton
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DOI: 10.3390/bioengineering9050208
Abstract: Exoskeleton technology has undergone significant developments for the adult population but is still lacking for the pediatric population. This paper presents the design of a hip–knee exoskeleton for children 6 to 11 years old with… read more here.
Keywords: zero dynamics; hybrid zero; gait guidance; control ... See more keywords