Now showing items 1-4 of 4
A Hybrid Systems and Optimization-Based Control Approach to Realizing Multi-Contact Locomotion on Transfemoral Prostheses
(Georgia Institute of Technology, 2015)
This paper presents a systematic methodology utilizing multi-domain hybrid system models and optimization based controllers to achieve human-like multi-contact prosthetic walking experimentally on a custom-built prosthesis: ...
Realization of Stair Ascent and Motion Transitions on Prostheses Utilizing Optimization-Based Control and Intent Recognition
(Georgia Institute of Technology, 2015-08)
This paper presents a systematic methodology for achieving stable locomotion behaviors on transfemoral prostheses, together with a framework for transitioning between these behaviors—both of which are realized experimentally ...
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 ...
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 ...