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Many motion support robots of the elderly and disable were studies all over the world. We have developed the rollover support system, which is one of the ADL. Our ultimate goal is to develop an effective rollover support system for patients with cancer bone metastasis. The core of this system is a pneumatic rubber muscle that is operated by EMG signals from the trunk muscle. A Time Delay Neural Network...
We propose a new algorithm for numerical solutions of constrained nonlinear optimal control problems, based on constrained LQ problems. The proposed algorithm is described as follows. First, we approximate the constrained nonlinear optimal control problems by the Taylor expansion technique, resulting in the standard LQ problems, but with linearized constraints. Then, by making use of penalty function...
A new algorithm for numerical solutions of constrained nonlinear optimal control problems has been proposed based on Riccati transformation. First, we approximate the constrained nonlinear optimal control problems by the Taylor expansion technique. Then, constructing the constrained LQ problems as the accessory problems, we analytically solve them via Riccati transformation. Finally, repeating the...
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