4 accepted papers
This paper exposes a control architecture enabling rehabilitation of walking impaired patients with the lower-limb exoskeleton Atalante. Atalante's control system is modified to allow the patient to contribute to the walking motion through their efforts. Only the swing leg degree of freedom along th…
This letter presents a novel observer for estimating the state of a legged robot with deformations in the structure, taking into account the dynamic nature of walking motions. Specifically, it considers a robot with several punctual deformations, whose rotations are estimated using low-cost IMUs. To
This paper describes a novel low-level controller for the lower-limb exoskeleton Atalante. The controller implemented on the commercialized product Atalante works under the assumption of full rigidity, performing position control through decentralized joint PIDs. However, this controller is unable t…
This letter presents a general state estimation method for legged robots having internal flexibilities. In details, the method is applicable to any robot with an arbitrary number of punctual deformations, during standing and walking phases on flat ground. Focused on balance applications, this estima