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Optimal Linear Feedback Control of Walking

This project involves the development of optimal feedback controllers that efficiently reject perturbations about desired state and control trajectories during walking. We initially identify time-dependent state feedback gains optimized for linear quadratic regulator (LQR) control of joint torques according to performance objectives of tracking versus effort. We then characterize controller performance against various perturbations. Long-term objectives of this work include: (1) developing controllers for muscle-based actuation, (2) development of linear quadratic Gaussian (LQG) control for the case of incomplete and noisy sensing, and (3) designing control templates for operating powered prosthetic and orthotic devices that improve gait performance and efficiency.