相关论文: Upper Extremity Load Reduction for Lower LimbExosk…

A key barrier to using reinforcement learning (RL) in many real-world applications is the requirement of a large number of system interactions to learn a good control policy. Off-policy and Offline RL methods have been proposed to reduce…

This paper presents an approach for learning online generation of collision-free and torque-limited robot trajectories. In order to generate future motions, a neural network is periodically invoked. Based on the current kinematic state of…

This study proposes the realization of various virtual environments using a lower limb exoskeletal robot for futuristic gait rehabilitation. The proposed method allows the user to feel virtual gravity, buoyancy, and drag while actively…

Legged robots with closed-loop kinematic chains are increasingly prevalent due to their increased mobility and efficiency. Yet, most motion generation methods rely on serial-chain approximations, sidestepping their specific constraints and…

In this study a new approach is proposed for the generation of aircraft trajectories. The relative guidance of an aircraft, which is aimed to join in minimum time the track of a leader aircraft, is particularly considered. In a first place,…

Walking motion planning based on Divergent Component of Motion (DCM) and Linear Inverted Pendulum Model (LIPM) is one of the alternatives that could be implemented to generate online humanoid robot gait trajectories. This algorithm requires…

In this paper, we improve upon a method for optimal control of quadrupedal robots which utilizes a full-order model of the system. The original method utilizes offline nonlinear optimal control to synthesize a control scheme which…

The paper addresses the rehabilitation of disabled patients using a lower-limb fully-actuated exoskeleton. We propose a novel numerical method to replan the current step without jeopardizing stability. Stability is evaluated in the light of…

Traditional force-controlled bipedal walking utilizes highly bent knees, resulting in high torques as well as inefficient, and unnatural motions. Even with advanced planning of center of mass height trajectories, significant amounts of…

We present a new framework to generate human-like lower-limb trajectories in periodic and non-periodic walking conditions. In our method, walking dynamics is encoded in 3LP, a linear simplified model composed of three pendulums to model…

This paper presents an active stabilization method for a fully actuated lower-limb exoskeleton. The method was tested on the exoskeleton ATALANTE, which was designed and built by the French start-up company Wandercraft. The main objective…

Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-feasible trajectories requires models that capture arbitrary…

Designing generalizable control policies for lower-limb exoskeletons remains fundamentally constrained by exhaustive data collection or iterative optimization procedures, which limit accessibility to clinical populations. To address this…

Humans rely on ankle torque to maintain standing balance, particularly in the presence of small to moderate perturbations. Reductions in maximum torque (MT) production and maximum rate of torque development (MRTD) occur at the ankle with…

Performing large step-ups is a challenging task for a humanoid robot. It requires the robot to perform motions at the limit of its reachable workspace while straining to move its body upon the obstacle. This paper presents a non-linear…

Utilizing orthoses and exoskeleton technology in various applications and medical industries, particularly to help elderly and ordinary people in their daily activities is a new growing field for research institutes. In this paper, after…

Generating stable walking gaits that yield natural locomotion when executed on robotic-assistive devices is a challenging task that often requires hand-tuning by domain experts. This paper presents an alternative methodology, where we…

This paper presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work has shown that providing some freedom of movement around a…

This paper presents a trajectory generation method for contact-constrained robotic systems such as manipulators and legged robots. Contact-constrained systems are affected by the interaction forces between the robot and the environment. In…

With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by special structures on robots require a more general navigation…