A System for Simple Robotic Walking Assistance With Linear Impulses at the Center of Mass

Volume: 28, Issue: 6, Pages: 1353 - 1362
Published: Jun 1, 2020
Abstract
Walking can be simplified as an inverted pendulum motion where both legs generate linear impulses to redirect the center of mass (COM) into every step. In this work, we describe a system to assist walking in a simpler way than exoskeletons by providing linear impulses directly at the COM instead of providing torques at the joints. We developed a novel waist end-effector and high-level controller for an existing cable-robot. The controller allows...
Paper Details
Title
A System for Simple Robotic Walking Assistance With Linear Impulses at the Center of Mass
Published Date
Jun 1, 2020
Volume
28
Issue
6
Pages
1353 - 1362
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