3 accepted papers
Human-robot interaction based on real-time kinematics or electromyography (EMG) feedback improves rehabilitation using assist-as-needed strategies. Muscle forces are expected to provide even more comprehensive information than EMG to control these assistive rehabilitation devices. Measuring in vivo
Estimating the centroidal dynamics of legged robots is crucial in the context of multi-contact locomotion of legged robots. In this paper, we formulate the estimation of centroidal dynamics as a maximum a posteriori problem and we use a differential dynamic programming approach for solving it. The s…
Estimating the center of mass position and the angular momentum derivative of legged systems is essential for both controlling legged robots and analyzing human motion. In this letter, a novel recursive approach to concurrently and accurately estimate these two quantities together is introduced. The