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Deep reinforcement learning-based anti-interference control of lower limb exoskeleton
- Citation Author(s):
- Submitted by:
- Miaofan Ma
- Last updated:
- Fri, 01/26/2024 - 02:58
- DOI:
- 10.21227/6rc9-sk24
- License:
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Abstract
In this paper, we propose a dual-loop control strategy to address the problems of the interference by the human-machine interaction of the lower limb exoskeleton movement. The outer ring adopts admittance control and the human-machine interaction torque is estimated by the generalized momentum observer based on Kalman filter. The inner ring adopts PID control based on DDPG.
Documentation
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Documentation.docx | 14.91 KB |