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This paper describes the control of an autonomous biped robot capable to be subjected to external pushing forces applied in the sagittal plane. A 1st order Takagi-Sugeno-Kang (TSK) type neuro fuzzy net, that was trained based on experimental and simulation data, is used. This net uses the zero moment point (ZMP) position and its variation as inputs, and the sagittal correction of the robotpsilas body...
This paper deals with the nonlinear control of a lower limbs isokinetic rehabilitation device based on a Takagi-Sugeno modeling. A parallel distributed compensation control law is used to stabilize the closed-loop system in the whole operational space. The human force applied to the device's arm is considered as an external disturbance to the system dynamics. To attenuate this disturbance, an Hinfin ...
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