Now showing items 1-3 of 3
Multi-Contact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control
(Georgia Institute of Technology, 2016-03)
Lower-limb prostheses provide a prime example of cyber-physical systems (CPSs) requiring the synergistic development of sensing, algorithms and controllers. With a view towards better understanding CPSs of this form, this ...
Realizing Dynamic and Efficient Bipedal Locomotion on the Humanoid Robot DURUS
(Georgia Institute of Technology, 2016-05)
This paper presents the methodology used to achieve efficient and dynamic walking behaviors on the prototype humanoid robotics platform, DURUS. As a means of providing a hardware platform capable of these behaviors, the ...
First Steps Toward Translating Robotic Walking To Prostheses: A Nonlinear Optimization Based Control Approach
(Georgia Institute of Technology, 2016)
This paper presents the first steps toward successfully translating nonlinear real-time optimization based controllers from bipedal walking robots to a self-contained powered transfemoral prosthesis: AMPRO, with the ...