Autonomous robots require online trajectory planning capability to operate in the real world.
Efficient offline trajectory planning methods already exist, but are computationally …

This paper presents a personalized gait optimization framework for lower-body
exoskeletons. Rather than optimizing numerical objectives such as the mechanical cost of …

Lower-limb exoskeleton has gained considerable interests in walking assistance
applications for paraplegic patients. In walking assistance of paraplegic patients, the …

We present a control architecture for real-time adaptation and tracking of trajectories
generated using a terrain-aware trajectory optimization solver. This approach enables us to …

Kinematic control approaches for exoskeletons follow specified trajectories, which overly
constrain individuals who have partial or full volitional control over their lower limbs. In our …

Dynamic traversal of uneven terrain is a major objective in the field of legged robotics. The
most recent model predictive control approaches for these systems can generate robust …

In recent times, a new generation of modern exoskeleton robots has come into existence,
that aims to utilize machine learning to learn the specific needs and preferences of its users …

This paper proposes a hierarchical task-oriented whole-body locomotion framework for the
exoskeleton walking-cart pushing (EWCP) task, which includes a straight gait and a …

With the capability to enable lower limb paralysis people to stand up and walk again, lower
limb exoskeleton has become more and more popular over the world. However, most of the …

As a wearable robot, an exoskeleton provides a direct transfer of mechanical power to assist
or augment the wearer's movement with an anthropomorphic configuration. When an …