Ming-Quan Zhang

Speed-Dependent Variation of Optimal Prediction Horizon in a Bio-Inspired Model Predictive Control Framework for Slow Bipedal Walking

Slow bipedal walking is commonly observed in older adults and patients with mobility impairments, who are among the primary users of lower-limb exoskeletons and related assistive systems. Model predictive control (MPC) is attractive for such applications because it optimizes control over a finite horizon while handling...