Chia-Yu E. Wang

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In this paper we examine a method to control the stepping motion of a paralyzed person suspended on a treadmill using a robot attached to the torso and hips. A leg swing motion is created by moving the hips without contact with the legs. The problem is formulated as an optimal control problem for an underactuated articulated chain. The optimal control(More)
This paper presents an optimization-based framework for emulating the low-level capabilities of human motor coordination and learning. Our approach rests on the observation that in most biological motor learning scenarios some form of optimization with respect to a physical criterion is taking place. By appealing to techniques from the theory of Lie groups,(More)
Fig. 7. Simulated steering response for bicycle and nonholonomic models for plant with no rate or saturation limits and K = 10 and for two speeds v = 1; 5 m/s. to a nonholonomic constraint. The bicycle and exact models were then compared in the context of a heading control loop where the effect of the zero on error and input demand is quite marked,(More)
In this paper we develop a point-to-point weightlift-ing motion planner for open-chained rvbota. The joint trajectm " es am defined b~ B-spline pol~omials along with a timescale factor. Ph@al limitations of a Puma 762 robot a~ incorpomted into the formulation. The torque limits are formulated aa a Penaltg function (soft constminta) added into the objeetive(More)
In this paper we examine a method to control the stepping motion of a paralyzed person suspended over a treadmill using a robot attached to the pelvis. A leg swing motion is created by moving the pelvis without contact with the legs. The problem is formulated as an optimal control problem for an underactuated articulated chain. The optimal control problem(More)
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