Humans have a remarkable ability to create stable walking patterns that can resist and recover from perturbations. Unfortunately, this ability is substantially impaired after a stroke, limiting mobility and contributing to a high fall rate. To facilitate gait training during post-stroke rehabilitation, clinicians often incorporate body-weight support (BWS) systems that...
Robot dynamics are typically highly nonlinear and their control is a challenging research topic without a single overarching algorithm that demonstrates the best performance. In this thesis, I derive a nonlinear control algorithm that uses an analytical, closed-form solution to compute feedback with controllability-based guarantees for convergence. The proposed algorithm,...