2022
Vision Assisted Control of Lower Extremity Exoskeleton for Obstacle Avoidance With Dynamic Constraint Based Piecewise Nonlinear MPC
RA-L 2022
This article proposed a humanoid obstacle passability strategy (OPS) to enhance human-exoskeleton integrated system to cross over multi-obstacle in sagittal plane. A hybrid bounding box integrated with closeness regression in L-shape section and synchronous convergence in convex hull search (HBB-LC)