Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator
Chang Gao,Rachel Gehlhar,Aaron D. Ames,Shih-Chii Liu,Tobi Delbruck,Chang Gao,Rachel Gehlhar,Aaron D. Ames,Shih-Chii Liu,Tobi Delbruck
Lower leg prostheses could improve the life quality of amputees by increasing comfort and reducing energy to locomote, but currently control methods are limited in modulating behaviors based upon the human's experience. This paper describes the first steps toward learning complex controllers for dynamical robotic assistive devices. We provide the first example of behavioral cloning to control a po...
