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We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions…
In this paper we present a dynamic programing approach to stochastic optimal control problems with dynamic, time-consistent risk constraints. Constrained stochastic optimal control problems, which naturally arise when one has to consider…
In this paper, an efficient control strategy for physiological interaction based anaesthetic drug infusion model is explored using the fractional order (FO) proportional integral derivative (PID) controllers. The dynamic model is composed…
This work presents a description of the EXOSMOOTH project, oriented to the benchmarking of lower limb exoskeletons performance. In the field of assisted walking by powered lower limb exoskeletons, the EXOSMOOTH project proposes an…
Control strategies for active prostheses or orthoses use sensor inputs to recognize the user's locomotive intention and generate corresponding control commands for producing the desired locomotion. In this paper, we propose a learning-based…
Synthesizing physiologically-accurate human movement in a variety of conditions can help practitioners plan surgeries, design experiments, or prototype assistive devices in simulated environments, reducing time and costs and improving…
The level of challenge in stroke rehabilitation has to be carefully chosen to keep the patient engaged and motivated while not frustrating them. This paper presents a simulation where this level of challenge is automatically optimized using…
Introduction: Rehabilitation after a neurological impairment can be supported by functional electrical stimulation (FES). However, FES is limited by early muscle fatigue, slowing down the recovery progress. The use of optimal control to…
Hip exoskeletons are known for their versatility in assisting users across varied scenarios. However, current assistive strategies often lack the flexibility to accommodate for individual walking patterns and adapt to diverse locomotion…
We analyze the control of the motion of a charged particle by means of an external electric field. The system is constrained to move along a given direction. The goal of the control is to change the speed of the particle in a fixed time…
In this paper, we consider the notions of effort and resilience of a dynamical control system defined by the maximum disturbance the system can withstand while satisfying given finite temporal logic specifications. Given a dynamical system…
This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…
This paper presents a cascaded control architecture, based on nonlinear dynamic inversion (NDI), for rigid body attitude control. The proposed controller works directly with the rotation matrix parameterization, that is, with elements of…
The subject of this paper is about the kinematic analysis and the trajectory planning of the Orthoglide 5-axis. The Orthoglide 5-axis a five degrees of freedom parallel kinematic machine developed at IRCCyN and is made up of a hybrid…
Robotic locomotion often relies on sequenced gaits to efficiently convert control input into desired motion. Despite extensive studies on gait optimization, achieving smooth and efficient gait transitions remains challenging. In this paper,…
Model predictive control (MPC) has shown great success for controlling complex systems such as legged robots. However, when closing the loop, the performance and feasibility of the finite horizon optimal control problem (OCP) solved at each…
Current control strategies for powered lower limb prostheses often lack awareness of the environment and the user's intended interactions with it. This limitation becomes particularly apparent in complex terrains. Obstacle negotiation, a…
For industrial product design, it is very important to take into account assembly/disassembly and maintenance operations during the conceptual and prototype design stage. For these operations or other similar operations in a constrained…
This paper proposes a novel approach to formulate time-optimal point-to-point motion planning and control under uncertainty. The approach defines a robustified two-stage Optimal Control Problem (OCP), in which stage 1, with a fixed time…
This paper extends the forced-oscillation-based reduced-order model of walking to a model with ankles and feet. A human-inspired paradigm was designed for the ankle dynamics, which results in improved gait characteristics compared to the…