Total Cource Locomotion Control of Assist Walking Exoskeleton Leg

摘要：

Based on the analyze of the assist walking exoskeleton leg behavior characteristics,the total cource locomotion can be divided into swing and stance two phase. To the stance phase,the position control based on fixed gravity compensation is used. To the swing phase,the fast terminal sliding mode control is used to design the virtual torque controller. Theoretical analyse and simulation results test the feasibility and validity of this control method.

作者: YANG Xiuxia ZHANG Yi XIAO Zhicai YANG Zhiyong

作者单位: Department of Control Engineering,Naval Aeronautical and Astronautical University,Yantai,264001,P.R. Department of Strategy Missile Engineering,Naval Aeronautical and Astronautical University,Yantai,26

会议类型: 国际会议

会议名称: The 30th Chinese Control Conference(第三十届中国控制会议)

会议地点: 烟台

会议语种:英文

页码: 1-4

在线出版日期: 2011-07-01（万方平台首次上网日期，不代表论文的发表时间）