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The paper designs an appropriate iterative learning control(ILC) algorithm based on the trajectory characteristics of lower extremity exoskeleton robot, and the algorithm utilizes variable forgetting factor not only does not affect the system in the convergence speed, but also it can enhance the robustness of the system. Considering the lower extremity exoskeleton robot trajectory is periodic motion,...
To meet the complicated control requirement of biped robot with heterogeneous legs (BRHL), the master-slave dual-leg coordinated control strategy was adopted to simplify its planning scheme, of which the key of coordination is gait tracking control. Bionic knee joint enables the robot to walk more like human, but its modeling is complex and the control of bionic leg to track artificial leg is difficult...
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