Multicontact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control - Huihua Zhao; Horn, Jonathan; Reher, Jacob; Paredes, Victor; Ames, Aaron D. (IEEE transactions on automation science and engineering, 2016)
Keywords: Control Lyapunov function; Controllers; cyber-physical-system (CPS); Foot; Heuristic; Hybrid power systems; hybrid system; Legged locomotion; Motion control; Optimization; Optimization algorithms; Prostheses; Prosthetics; Quadratic programming; Trajectory; transfemoral prosthesis