| Title: | GS4-2 An Adaptive Control Method for a Knee-Joint Prosthetic Leg Toward Dynamic Stability and Gait Optimization |
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| Publication: | ICAROB2025 |
| Volume: | 30 |
| Pages: | 867-872 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2025.GS4-2 |
| Author(s): | Yiqian Ge, Choisuren Purevdorj, Shintaro Kasai, Hiroaki Wagatsuma |
| Publication Date: | February 13, 2025 |
| Keywords: | Model Predictive Control (MPC), Linear Quadratic Regulator (LQR), Trajectory Tracking, Lower-Limb Prosthetics, Knee Joint Motion |
| Abstract: | This paper presents a hybrid control strategy that combines Model Predictive Control (MPC) and Linear Quadratic Regulator (LQR) to achieve robust and stable tracking of human knee joint motion. The state-space model of the system is discretized to facilitate real-time implementation. MPC is employed to track the knee joint trajectory during dynamic motion, while the LQR controller is activated at critical points, particularly when the joint angle approaches zero, to stabilize the system and ensure safety. |
| PDF File: | https://alife-robotics.co.jp/members2025/icarob/data/html/data/GS/GS4/GS4-2.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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