Research on Adaptive Gait Control Method for Walking Rehabilitation Robot
In order to improve the stability of walking rehabilitation robot on different slopes,a reasonable gait control method is particularly important.It takes the Walking aid recovery robot as a research object,an adaptive gait control method of walking re-habilitation robot based on short-term memory network and dynamic motion primitives is proposed in this paper.The reference gait is adjusted by combining the information collected by the sensor with the gait control items in the dynamic motion primitive.At the same time,the gait is adjusted twice by changing the time and space items of the dynamic motion primitive to adapt to dif-ferent slopes.The availability of the control method is verified by experiments.The results show that this method can carry out adaptive gait transformation on(0～20)°degree slope,it has certain practical value.
RobotGait ControlLong Short Term MemoryDynamic Movement PrimitivesWalking AidSelf-Adaption
NETL
NSTL
万方数据
