Abstract: This article presents an active human-following control of the lower limb exoskeleton for gait training. First, to improve safety, considering the human balance, the OpenPose-based visual ...
Abstract: This paper proposes a novel self-collision avoidance (SCA) scheme for whole-body model predictive control (WB-MPC). Since WB-MPC deals with a large-scale optimization problem, which becomes ...
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