Winter 2-2016 Evaluation of Decentralized Reactive Swing-Leg Controllers on Powered Robotic Legs

We present work to transfer decentralized neuromuscular control strategies of human locomotion to powered segmented robotic legs. State-of-the-art robotic locomotion control approaches, like centralized planning and tracking in fully robotic systems and predefined motion pattern replay in prosthetic systems, do not enable the dynamism and reactiveness of… CONTINUE READING