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cs.RO2024
A Reinforcement Learning Based Controller to Minimize Forces on the Crutches of a Lower-Limb Exoskeleton
Aydin Emre Utku, Suzan Ece Ada, Muhammet Hatipoglu +3
Metabolic energy consumption of a powered lower-limb exoskeleton user mainly comes from the upper body effort since the lower body is considered to be passive. However, the upper b…
cs.RO2023
Modular Safety-Critical Control of Legged Robots
Berk Tosun, Evren Samur
Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints prov…