Stable Crawling Policy for Wearable SuperLimbs Attached to a Human with Tuned Impedance
Phillip H. Daniel,Harry H. Asada,Phillip H. Daniel,Harry H. Asada
A control algorithm that allows a human model to crawl using a pair of supernumerary robotic limbs (SuperLimbs) is presented. The human model and SuperLimbs are coupled by a compliant harness. This work is inspired by the need for wearable robotic systems that can support workers engaged in fatiguing tasks. The walking policy is developed based on Lyapunov analysis. The volume of the region of att...
