Bonjour,
en automatique, commande, control, quelqu'un saurait il ce qu'est et comment s'appele en français le "phase sequence algorithm"?
voici le contexte:
merciDuring the course of the project, different control strategies have been developed
with the primary interface being EMG signals from the operator’s muscles. Early
prototypes consisted of a system with four actuated joints at the hip and knee of both
legs, with passive joints at the ankles. The latest development (HAL 5) also includes
actuated shoulder and elbow joints, as shown in figure 2.6.
The first published control strategy for HAL is
Figure 2.6: Hybrid Assistive Leg
(HAL): version 3 (left) and version
5 (right).
the "phase sequence algorithm" that was demonstrated
for the stepping-upmotion [KS01]. In this
approach the stepping-up movement is subdivided
into five phases which are handled by a statemachine:
leg raising, stepping up, leaning forward,
hind leg raising, torso erection.
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